| 引用本文: | 方星,吴爱国,董娜.非匹配扰动干扰下的无人直升机轨迹跟踪控制[J].控制理论与应用,2015,32(10):1325~1334.[点击复制] |
| FANG Xing,WU Ai-guo,DONG Na.Robust trajectory tracking control for unmanned helicopter with mismatched disturbances[J].Control Theory and Technology,2015,32(10):1325~1334.[点击复制] |
|
| 非匹配扰动干扰下的无人直升机轨迹跟踪控制 |
| Robust trajectory tracking control for unmanned helicopter with mismatched disturbances |
| 摘要点击 3523 全文点击 1462 投稿时间：2015-05-28 修订日期：2015-08-31 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2015.50460 |
| 2015,32(10):1325-1334 |
| 中文关键词 小型无人直升机 轨迹跟踪控制 非匹配扰动 扩展扰动观测器 滑模控制 |
| 英文关键词 small-scale unmanned helicopter trajectory tracking control mismatched disturbances extended disturbance observer (EDO) sliding mode control (SMC) |
| 基金项目 国家自然科学基金项目(61403274), 天津市应用基础及前沿技术研究计划(13JCQNJC03600)资助. |
|
| 中文摘要 |
| 针对小型无人直升机在飞行过程中容易受到非匹配扰动影响的特点, 本文设计了一种基于新型滑模控制
方法的轨迹跟踪控制器. 首先, 建立了无人直升机系统的非线性数学模型, 并对该模型进行近似反馈线性化处理,
同时将模型分为位置和偏航两个子系统; 然后, 利用扩展扰动观测器对复合扰动以及非匹配扰动的各阶导数的估
计值, 设计新型时变滑模面, 得到滑模控制律, 并给出了控制系统的稳定性分析; 最后, 仿真结果验证了控制方法的
有效性和优越性. 该新型滑模控制方法的优越性主要体现在: 对非匹配扰动具有较强的鲁棒性, 以及能有效地抑制
抖振现象. |
| 英文摘要 |
| We investigate the robust trajectory tracking controller based on extended disturbance observer (EDO) and
sliding mode control algorithm for small-scale unmanned helicopters in the presence of mismatched disturbances. First,
a nonlinear mathematical model of unmanned helicopter is presented, to which the approximate linearization technique is
applied for partitioning it into two interconnected subsystems: position subsystem and yaw subsystem. Then, by integrating
the mismatched disturbances and their derivatives into the new time-varying sliding- mode surface, we develop a novel
sliding-mode controller for the helicopter system. Moreover, the stability analysis of the closed-loop system is given.
Finally, some comparative simulation results are presented to illustrate the effectiveness and superiority of the proposed
control method for unmanned helicopters. This novel sliding-mode controller has two key advantages: insensitivity to
mismatched disturbances and suppression of chattering phenomenon. |
|
|
|
|
|