一种非线性航迹自适应跟踪控制方法

缪存孝; 房建成; 盛蔚

一种非线性航迹自适应跟踪控制方法

北京航空航天大学仪器科学与光电工程学院, 北京 100191

基金项目: 国家自然科学基金资助项目(60736025,60825305,60905056); 国家基础科研基金资助项目(D2120060013)

详细信息

中图分类号: TP 242.6
计量
- 文章访问数: 2824
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- 被引次数: 0
出版历程
- 收稿日期: 2010-12-16
- 网络出版日期: 2012-04-30

Adaptive tracking control method for nonlinear trajectory

School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: 针对小型无人飞行器航迹跟踪精度和飞行品质问题,提出了一种基于非线性航迹的自适应跟踪控制方法.应用五阶B样条拟合航点,构建非线性期望航迹;建立基于非线性期望航迹Serret-Frenet坐标系下的位置和运动航向误差方程;根据误差方程设计渐近稳定收敛的自适应运动航向控制律.并应用此方法进行了外场飞行实验,实验结果表明自适应航迹跟踪控制方法有效且能保证航迹跟踪精度.
- 航迹跟踪 /
- 非线性 /
- 小型无人飞行器 /
- 自适应 /
- B样条
Abstract: For flight trajectory tracking accuracy and quality problem of small unmanned aerial vehicle (SUAV), an adaptive tracking control method for nonlinear trajectory was proposed. Waypoints were fitted utilizing five-order B-spline to built nonlinear desired trajectory. The location and crossing heading error equations were established within the Serret-Frenet coordinates. The asymptotically stable convergence adaptive crossing heading law was designed based on the error formulations. The flight experimental results show that the proposed adaptive tracking control method are effective and can improve the tracking accuracy.
- trajectory tracking /
- nonlinear /
- small unmanned aerial vehicle (SUAV) /
- adaptive control /
- B-spline

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参考文献(11)

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