四旋翼飞行器预定时间自适应轨迹跟踪控制  

Predefined-time adaptive trajectory tracking control for a quadrotor UAV

作　　者：朱官超 崔国增 马倩[2] 李泽[1] ZHU Guan-chao;CUI Guo-zeng;MA Qian;LI Ze(School of Electronic and Information Engineering,Suzhou University of Science and Technology,Suzhou Jiangsu 215009,China;School of Automation,Nanjing University of Science and Technology,Nanjing Jiangsu 210094,China)

机构地区：[1]苏州科技大学电子与信息工程学院,江苏苏州215009 [2]南京理工大学自动化学院,江苏南京210094

出　　处：《控制理论与应用》2025年第3期601-608,共8页Control Theory & Applications

摘　　要：针对具有外部扰动和动态不确定性的四旋翼飞行器,本文提出了基于指令滤波反步法的预定时间自适应轨迹跟踪控制方案.通过引入指令滤波和构建非光滑误差补偿机制,有效地解决了“复杂性爆炸”的问题,并且在预定的时间内移除了滤波误差对系统性能的影响.所提出的预定时间自适应轨迹跟踪控制方案保证了闭环系统实际预定时间稳定,且闭环信号是预定时间有界的.通过调整控制参数,可以使得位置和姿态跟踪误差在预定的时间内收敛到原点附近的邻域内.最后,通过仿真算例验证了所提出的预定时间控制算法的有效性和优越性.This paper proposes a command filter-based predefined-time adaptive trajectory tracking control scheme for a quadrotor unmanned aerial vehicle(UAV)with external disturbances and dynamic uncertainties.By introducing the command filter and constructing the nonsmooth error compensation mechanism,the“explosion of complexity”problem is effectively addressed as well as the influence of filtered error for the system performance is eliminated in a predefined time.The proposed predefined-time adaptive trajectory tracking control scheme ensures that the closed-loop system is practically predefined-time stable,and the closed-loop signals are predefined-time bounded.By adjusting the control parameters,the position and attitude tracking errors can converge to the neighbourhood of the origin in a predefined time.Finally,a simulation example verifies the effectiveness and superiority of the presented predefined-time control strategy.

关 键 词：四旋翼飞行器 预定时间控制 指令滤波反步法 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]