基于<i>L</i><sub>1</sub>-ITD的尾座式无人机姿态控制

王姝旸; 张晶; 杨凌宇

doi:10.13700/j.bh.1001-5965.2021.0681

基于L₁-ITD的尾座式无人机姿态控制

doi: 10.13700/j.bh.1001-5965.2021.0681

北京航空航天大学自动化科学与电气工程学院，北京 100191

详细信息

作者简介:
王姝旸，等：基于L₁-ITD的尾座式无人机姿态控制 9

通讯作者:
E-mail：zhangjing2013@buaa.edu.cn

中图分类号: V249.122
计量
- 文章访问数: 1447
- HTML全文浏览量: 62
- PDF下载量: 31
- 被引次数: 0
出版历程
- 收稿日期: 2021-11-11
- 录用日期: 2022-01-21
- 网络出版日期: 2022-02-16
- 整期出版日期: 2023-10-01

Attitude control law based on L₁-ITD for a tail-sitter UAV

School of Automation Science and Electrical Engineering，Beihang University，Beijing 100191，China

More Information

Corresponding author: E-mail：zhangjing2013@buaa.edu.cn

摘要

摘要:
针对尾座式无人机在垂直起降（VTOL）阶段对风干扰敏感的问题，提出了一种基于L₁-ITD的尾座式无人机姿态控制方法。建立了垂直起降阶段尾座式无人机六自由度非线性模型，设计了基于L₁自适应的无人机姿态控制器，可抑制扰动对系统性能的影响，实现垂直起降阶段存在风干扰和模型不确定时对无人机姿态的良好控制。在此基础上，针对L₁自适应控制方法对量测噪声敏感及无法直接获取有效微分信号的问题，引入改进跟踪微分器，在快速精确跟踪信号的同时抑制了量测噪声的影响。仿真结果验证了所提方法的有效性。
- L₁自适应控制 /
- 跟踪微分器 /
- 尾座式无人机 /
- 姿态控制 /
- 量测噪声
Abstract:
Aiming at the problem that the tail-sitter UAV is sensitive to wind disturbance in the vertical take-off and landing (VTOL) stage, an attitude control law based on L₁-ITD is proposed. Firstly, a 6-DOF nonlinear model of a tail-sitter UAV in VTOL stage is established, and an L₁ adaptive attitude controller for the UAV is designed. The controller can suppress the influence of disturbance on system performance and achieve good attitude control performance with wind disturbance and model uncertainty in VTOL stage. Then, aiming at the problem that L₁ adaptive control method is sensitive to measurement noise and cannot directly obtain effective differential signal, an improved tracking differentiator is used to track the signal quickly and accurately while suppressing the influence of measurement noise. Finally, the simulation results demonstrate the effectiveness of the proposed control method.
- L₁ adaptive control /
- tracking differentiator /
- tail-sitter UAV /
- attitude control /
- measurement noise

HTML全文

图 1 尾座式无人机

Figure 1. Tail-sitter UAV

下载: 全尺寸图片幻灯片

图 2 L₁自适应控制系统结构

Figure 2. L₁ adaptive control system structure

下载: 全尺寸图片幻灯片

图 3 控制器整体结构

Figure 3. Structure of controller

下载: 全尺寸图片幻灯片

图 4 分段常值风干扰下L₁自适应控制与PID控制效果对比曲线

Figure 4. Under segmented constant wind disturbance comparison curves between L₁ adaptive control and PID control

下载: 全尺寸图片幻灯片

图 5 正弦高频风干扰下L₁自适应控制与PID控制效果对比曲线

Figure 5. Under sinusoidal high-frequency wind disturbance comparison curves between L₁ adaptive control and PID control

下载: 全尺寸图片幻灯片

图 6 组合风干扰

Figure 6. Combined wind disturbance

下载: 全尺寸图片幻灯片

图 7 加入量测噪声后L₁自适应控制方法效果曲线

Figure 7. L₁ adaptive control curve after adding measurement noise

下载: 全尺寸图片幻灯片

图 8 基于L₁-ITD控制效果

Figure 8. Control effect based on L₁-ITD

下载: 全尺寸图片幻灯片

图 9 各操纵机构控制指令变化

Figure 9. Changes in control commands of each operating mechanism

下载: 全尺寸图片幻灯片

参考文献(25)

[1]	刘玉焘. 尾座式无人机的飞行控制器设计[D]. 哈尔滨: 哈尔滨工业大学, 2014: 1-33. LIU Y T. Design of flight controller for a tail-sitter UAV[D]. Harbin: Harbin Institute of Technology, 2014: 1-33(in Chinese).
[2]	王刚强. 大气扰动下无人直升机悬停/小速度段位置控制律设计[D]. 南京: 南京航空航天大学, 2013: 1-3. WANG G Q. Research on position control technology of the unmanned helicopter in hover and low speed state with atmospheric disturbance[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2013: 1-3(in Chinese).
[3]	王正熙, 陈洋, 郑秀娟, 等. 风扰下基于气动参数估计的四旋翼无人机控制[J]. 信息与控制, 2018, 47(6): 663-670. doi: 10.13976/j.cnki.xk.2018.7490 WANG Z X, CHEN Y, ZHENG X J, et al. Quadrotor UAV control with disturbance based on aerodynamic parameter estimation[J]. Information and Control, 2018, 47(6): 663-670(in Chinese). doi: 10.13976/j.cnki.xk.2018.7490
[4]	KIM M, KIM Y. Error dynamics-based guidance law of UAVs for target observation under wind disturbance: AIAA 2012-2593[R]. Reston: AIAA, 2012.
[5]	WASLANDER S, WANG C. Wind disturbance estimation and rejection for quadrotor position control: AIAA 2009-1983[R]. Reston: AIAA, 2009.
[6]	WANG Y N, YU J L, LI Q D, et al. Control strategy for the transition flight of a tail-sitter UAV[C]//2017 Chinese Control Conference. Piscataway: IEEE Press, 2017: 3504-3509.
[7]	韩京清. 自抗扰控制器及其应用[J]. 控制与决策, 1998, 13(1): 19-23. doi: 10.3321/j.issn:1001-0920.1998.01.005 HAN J Q. Auto-disturbances-rejection controller and it’s applications[J]. Control and Decision, 1998, 13(1): 19-23(in Chinese). doi: 10.3321/j.issn:1001-0920.1998.01.005
[8]	WANG Q Q, XIONG H J, QIU B. The attitude control of transmission line fault inspection UAV based on ADRC[C]//2017 International Conference on Industrial Informatics-Computing Technology, Intelligent Technology, Industrial Information Integration. Piscataway: IEEE Press, 2018: 186-189.
[9]	ZHU G J, QI J T, WU C. Landing control of fixed-wing UAV based on ADRC[C]//2019 Chinese Control Conference. Piscataway: IEEE Press, 2019: 8020-8025.
[10]	LEE D, AWAN A, KIM S, et al. Adaptive control for a VTOL UAV operating near a wall: AIAA 2012-4835[R]. Reston: AIAA, 2012.
[11]	LIAN S K, MENG W, LIN Z M, et al. Adaptive attitude control of a quadrotor using fast nonsingular terminal sliding mode[J]. IEEE Transactions on Industrial Electronics, 2022, 69(2): 1597-1607. doi: 10.1109/TIE.2021.3057015
[12]	CAO C Y, HOVAKIMYAN N. Guaranteed transient performance with L₁ adaptive controller for systems with unknown time-varying parameters and bounded disturbances: Part I[C]//2007 American Control Conference. Piscataway: IEEE Press, 2007: 3925-3930.
[13]	LUO J, CAO C, HOVAKIMYAN N. L₁ adaptive controller for a class of systems with unknown nonlinearities[C]//2010 American Control Conference. Piscataway: IEEE Press, 2010: 1659-1664.
[14]	CAO C, HOVAKIMYAN N. L₁ adaptive controller for nonlinear systems in the presence of unmodelled dynamics: Part II[C]//2008 American Control Conference. Piscataway: IEEE Press, 2008: 4099-4104.
[15]	秦奇. 飞行器纵向轨迹的L₁自适应控制[D]. 北京: 北京理工大学, 2015: 1-39. QIN Q. L₁ adaptive control for aircraft longitudinal trajectory[D]. Beijing: Beijing Institute of Technology, 2015: 1-39(in Chinese).
[16]	陈海, 何开锋, 钱炜祺. 基于非线性L₁自适应动态逆的飞行器姿态角控制[J]. 控制理论与应用, 2016, 33(8): 1111-1118. doi: 10.7641/CTA.2016.51007 CHEN H, HE K F, QIAN W Q. Attitude control of flight vehicle based on a nonlinear L₁ adaptive dynamic inversion approach[J]. Control Theory & Applications, 2016, 33(8): 1111-1118(in Chinese). doi: 10.7641/CTA.2016.51007
[17]	ZHONG J Y, SONG B F, LI Y B, et al. L₁ adaptive control of a dual-rotor tail-sitter unmanned aerial vehicle with input constraints during hover flight[J]. IEEE Access, 2019, 7: 51312-51328. doi: 10.1109/ACCESS.2019.2911897
[18]	甄红涛, 齐晓慧, 李杰, 等. 四旋翼无人机L₁自适应块控反步姿态控制器设计[J]. 控制与决策, 2014, 29(6): 1076-1082. ZHEN H T, QI X H, LI J, et al. Quadrotor UAV L₁ adaptive block backstepping attitude controller[J]. Control and Decision, 2014, 29(6): 1076-1082(in Chinese).
[19]	韩京清, 王伟. 非线性跟踪-微分器[J]. 系统科学与数学, 1994, 14(2): 177-183. HAN J Q, WANG W. Nonlinear tracking-differentiator[J]. Journal of Systems Science and Mathematical Sciences, 1994, 14(2): 177-183(in Chinese).
[20]	史永丽, 侯朝桢. 改进的非线性跟踪微分器设计[J]. 控制与决策, 2008, 23(6): 647-650. doi: 10.13195/j.cd.2008.06.49.shiyl.005 SHI Y L, HOU C Z. Design of improved nonlinear tracking differentiator[J]. Control and Decision, 2008, 23(6): 647-650(in Chinese). doi: 10.13195/j.cd.2008.06.49.shiyl.005
[21]	刘延泉, 郭佳颖. 双曲正切跟踪微分器设计及相平面分析[J]. 电力科学与工程, 2017, 33(10): 74-78. doi: 10.3969/j.ISSN.1672-0792.2017.10.013 LIU Y Q, GUO J Y. Design and phase plane analysis of a hyperbolic tangent tracking differentiator[J]. Electric Power Science and Engineering, 2017, 33(10): 74-78(in Chinese). doi: 10.3969/j.ISSN.1672-0792.2017.10.013
[22]	王新华, 陈增强, 袁著祉. 全程快速非线性跟踪-微分器[J]. 控制理论与应用, 2003, 20(6): 875-878. WANG X H, CHEN Z Q, YUAN Z Z. Nonlinear tracking-differentiator with high speed in whole course[J]. Control Theory & Applications, 2003, 20(6): 875-878(in Chinese).
[23]	刘海亭. 基于滑模变结构控制的机械臂轨迹跟踪[D]. 天津: 天津大学, 2018. LIU H T. Trajectory tracking of robotic manipulators based on sliding mode variable structure control[D]. Tianjin: Tianjing University, 2018(in Chinese).
[24]	KE Y J, WANG K L, CHEN B M. Design and implementation of a hybrid UAV with model-based flight capabilities[J]. IEEE/ASME Transactions on Mechatronics, 2018, 23(3): 1114-1125. doi: 10.1109/TMECH.2018.2820222
[25]	LIU X X, LI Y, YUAN M Q, et al. Gust alleviation controller for elastic aircraft based on L₁ adaptive control[C]//2017 Chinese Automation Congress. Piscataway: IEEE Press, 2018: 5382-5385.