基于几何控制的四旋翼轨迹跟踪方法  

Trajectory Tracking Method of Quadrotor Based on Geometric Control

作　　者：周嘉麒 王指辉 王民泰 印雅萌 翁祥瑞 ZHOU Jiaqi;WANG Zhihui;WANG Mintai;YIN Yameng;WENG Xiangrui(Nanjing University of Aeronautics and Astronautics,Nanjing 211106)

机构地区：[1]南京航空航天大学,南京211106

出　　处：《计算机与数字工程》2024年第4期1055-1060,共6页Computer & Digital Engineering

基　　金：南京航空航天大学研究生开放基金项目(编号:kfjj20201506)资助。

摘　　要：针对欠驱动四旋翼无人机在大角度和复杂机动飞行中的控制问题,提出了一种基于几何控制的轨迹跟踪方法,该控制器具有全局稳定性,系统可以从任何初始状态恢复。首先,对四旋翼系统构型进行建模,解决了非线性流形上平移动力学和旋转动力学之间的耦合效应;其次,针对动态系统的基本几何特征,采用微分几何方法设计了跟踪控制器;最后,对该系统进行仿真验证了轨迹跟踪的闭环稳定性。仿真结果表明,当初始姿态误差小于90°时,系统表现出指数稳定性;当初始姿态误差大于90°小于180°时,系统具有全局指数吸引性。Aiming at the control problems of under-driven quadrotor UAVs in large-angle and complex maneuvering flight,atrajectory tracking method based on geometric control is proposed. The controller has global stability and the system can recoverfrom any initial state. Firstly,the configuration of the quadrotor system is modeled to solve the coupling effect between translationalmotion and rotational dynamics on the nonlinear manifold. Secondly,the tracking control is designed by using differential geometryin view of the basic geometric characteristics of the dynamic system. Finally,the system is simulated to verify the closed-loop stability of trajectory tracking. The simulation results show that when the initial attitude error is less than 90°,the system exhibits exponential stability,when the initial attitude error is greater than 90° and less than 180°,the system has global exponential attractiveness.

关 键 词：四旋翼 轨迹跟踪 非线性流形 几何控制 

分 类 号：V556.8[航空宇航科学与技术—人机与环境工程]