一类四旋翼无人机的自适应H_(∞)安全跟踪控制  

Adaptive H_(∞) safe tracking control for a class of quadrotor UAVs

作　　者：毛博文 李小华[1] 刘辉 MAO Bowen;LI Xiaohua;LIU Hui(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学电子信息与工程学院,辽宁鞍山114051

出　　处：《辽宁科技大学学报》2024年第6期447-458,共12页Journal of University of Science and Technology Liaoning

基　　金：吉林大学汽车仿真与控制国家重点实验室开放基金资助项目(20210219)。

摘　　要：研究一类四旋翼无人机系统的自适应空间安全跟踪控制方法,基于一种安全边界保护法和预设性能有限时间控制,解决飞行器在空间飞行过程中遇到空间边界突变且与期望飞行轨迹冲突情况下的安全跟踪控制问题。设计了x、y、z三个方向的自适应安全跟踪控制器,使无人机在无空间边界突变时正常跟踪期望轨迹,遇到突变与期望轨迹冲突时,无人机则能够自适应地生成新的期望轨迹,并沿此轨迹在安全边界内飞行,从而自主避开障碍物。采用H_(∞)控制,使无人机系统对外界干扰具有较强抑制能力。仿真实验结果证明,所提控制方法能够有效实现四旋翼无人机空间飞行的安全跟踪。An adaptive space safe tracking control strategy is proposed for a class of quadrotor UAVs.Based on the secure boundary protection method(SBPM)and the prescribed performance finite-time control,the strategy solves the safe tracking control problem when the UAV encounters a sudden change of the space boundary,and the boundary conflicts with the desired flight trajectory during space flight.The adaptive safety tracking controllers are designed in x,y and z directions.When there is no sudden change in the spatial boundary,the UAV is able to track the desired trajectory as intended.When there is a sudden change in the space boundary,and the boundary conflicts with the desired trajectory,the UAV can adaptively generate a new desired trajectory and fly along this trajectory within the safety boundary so as to avoid the obstacles autonomously.The UAV system has a strong suppression capability against external interference due to the use of H_(∞) control.The simulation results demonstrate that the proposed control method can effectively achieve the safe tracking of quadrotor UAVs during space flight.

关 键 词：四旋翼无人机 空间安全跟踪控制 安全边界保护法 预设性能 自适应控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]