四旋翼无人机动态面控制

方旭; 刘金琨

doi:10.13700/j.bh.1001-5965.2015.0498

四旋翼无人机动态面控制

doi: 10.13700/j.bh.1001-5965.2015.0498

方旭,
刘金琨^,

北京航空航天大学自动化科学与电气工程学院, 北京 100083

基金项目: 高等学校博士学科点专项科研基金（20121102110008）

详细信息

作者简介:
方旭,男,硕士研究生。主要研究方向:先进控制系统。E-mail:fangxu@buaa.edu.cn;刘金琨,男,博士,教授,博士生导师。主要研究方向:先进控制系统。Tel.:010-82315354。E-mail:ljk@buaa.edu.cn

通讯作者:
刘金琨,Tel.:010-82315354,E-mail:ljk@buaa.edu.cn

中图分类号: V279;TB273
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- 被引次数: 0
出版历程
- 收稿日期: 2015-07-28
- 网络出版日期: 2016-08-20

Dynamic surface control for quadrotor unmanned air vehicle

FANG Xu,
LIU Jinkun^,

School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

摘要: 针对四旋翼无人机（UAV）飞行器系统欠驱动特点，引入动态面控制方法，对四旋翼UAV的位置和姿态进行控制。考虑到飞行器速度和角速度难以测量，设计高增益观测器得到UAV的速度和角速度的估计值。相对于反演法，动态面控制的设计更简洁，并且通过引入滤波器来求取控制信号中的系统状态的导数项。另外，常用的时标分离方法不能给出全局稳定性分析，本文引入动态面设计控制律保证系统所有信号半全局一致有界，同时给出系统全局稳定性证明。仿真结果表明，四旋翼UAV能快速精确完成目标跟踪。
- 动态面控制 /
- 高增益观测器 /
- 四旋翼无人机(UAV) /
- 分离定理 /
- 全局稳定性分析
Abstract: A dynamic surface control method is proposed to control position and attitude of quadrotor unmanned air vehicle (UAV) against its characteristics of underactuation. Considering that velocity and angular velocity are hard to measure, we design a high-gain observer for UAV to estimate velocity and angular velocity. Compared with backstepping approach, the design of dynamic surface control is more concise. Dynamic surface control eliminates the problem of "explosion of complexity" by introducing filter. Traditional time scale separation principle cannot prove the stability of whole system. By introducing the dynamic surface control method, it is shown that the control strategy can guarantee semi-global stability of the closed-loop system and arbitrarily small tracking error by adjusting the controller parameters. The stability of whole system is also given. Simulation results indicate that the proposed control system can achieve accurate tracking control for quadrotor UAV.
- dynamic surface control /
- high-gain observer /
- quadrotor unmanned air vehicle (UAV) /
- separation theory /
- global stability analysis

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参考文献(16)

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