Guaranteed Cost Attitude Tracking Control for Uncertain Quadrotor Unmanned Aerial Vehicle Under Safety Constraints  

作　　者：Qian Ma Peng Jin Frank L.Lewis 

机构地区：[1]School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China [2]UTA Research Institute,University of Texas at Arlington,Fort Worth,Texas 76118 USA [3]IEEE

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第6期1447-1457,共11页自动化学报（英文版）

基　　金：supported in part by the National Science Foundation of China(62173183)。

摘　　要：In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is studied.First,an augmented system is constructed by the tracking error system and reference system.This transformation aims to convert the tracking control prob-lem into a stabilization control problem.Then,control barrier function and disturbance attenuation function are designed to characterize the violations of safety constraints and tolerance of uncertain disturbances,and they are incorporated into the reward function as penalty items.Based on the modified reward function,the problem is simplified as the optimal regulation problem of the nominal augmented system,and a new Hamilton-Jacobi-Bellman equation is developed.Finally,critic-only rein-forcement learning algorithm with a concurrent learning tech-nique is employed to solve the Hamilton-Jacobi-Bellman equa-tion and obtain the optimal controller.The proposed algorithm can not only ensure the reward function within an upper bound in the presence of uncertain disturbances,but also enforce safety constraints.The performance of the algorithm is evaluated by the numerical simulation.

关 键 词：Attitude tracking control quadrotor unmanned aerial vehicle(QUAV) reinforcement learning safety constraints uncertain disturbances. 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]