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四旋翼无人机动态面控制

方旭 刘金琨

方旭, 刘金琨. 四旋翼无人机动态面控制[J]. 北京航空航天大学学报, 2016, 42(8): 1777-1784. doi: 10.13700/j.bh.1001-5965.2015.0498
引用本文: 方旭, 刘金琨. 四旋翼无人机动态面控制[J]. 北京航空航天大学学报, 2016, 42(8): 1777-1784. doi: 10.13700/j.bh.1001-5965.2015.0498
FANG Xu, LIU Jinkun. Dynamic surface control for quadrotor unmanned air vehicle[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(8): 1777-1784. doi: 10.13700/j.bh.1001-5965.2015.0498(in Chinese)
Citation: FANG Xu, LIU Jinkun. Dynamic surface control for quadrotor unmanned air vehicle[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(8): 1777-1784. doi: 10.13700/j.bh.1001-5965.2015.0498(in Chinese)

四旋翼无人机动态面控制

doi: 10.13700/j.bh.1001-5965.2015.0498
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

Dynamic surface control for quadrotor unmanned air vehicle

  • 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。

     

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出版历程
  • 收稿日期:  2015-07-28
  • 刊出日期:  2016-08-20

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