四旋翼飞行器自适应动态面轨迹跟踪控制
Adaptive dynamic surface trajectory tracking control of a quadrotor unmanned aerial vehicle
摘要点击 182  全文点击 247  投稿时间:2016-11-18  修订日期:2017-06-26
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DOI编号  10.7641/CTA.2017.60867
  2017,34(9):1185-1194
中文关键词  四旋翼飞行器  轨迹跟踪  自适应动态面控制  自适应不确定性估计
英文关键词  quadrotor unmanned aerial vehicle  tracking control  adaptive dynamic surface control  adaptive uncertainty estimate
基金项目  国家自然科学基金项目(51009017, 51379002), 交通运输部应用基础研究基金项目(2012–329–225–060), 中国博士后科学基金项目(2012M520629), 大连市杰出青年科技人才基金项目(2016RJ10), 大连市支持高层次人才创新计划项目(2015R065), 中央高校基本研究基金项目(3132016314)资助.
学科分类代码  
作者单位E-mail
王宁 大连海事大学 n.wang.dmu.cn@gmail.com 
王永 大连海事大学  
余明裕 新加坡南洋理工大学  
中文摘要
      针对具有未知外界扰动和系统不确定性集总未知非线性的四旋翼飞行器, 提出了一种采用自适应不确定 性补偿器的自适应动态面轨迹跟踪方法. 通过将四旋翼飞行器系统分解为位置、欧拉角和角速率3个动态子系统, 使各子系统虚拟控制器设计能充分考虑欠驱动约束; 结合动态面控制技术, 通过采用一阶低通滤波器, 避免对虚拟 控制信号求导; 进而设计自适应不确定性补偿器, 处理未知外界扰动和系统不确定性, 最终确保闭环控制系统的稳 定性、跟踪误差一致最终有界和系统所有状态信号有界. 仿真研究和实验结果验证了本文提出控制方法的有效性 和优越性
英文摘要
      In this paper, an adaptive dynamic surface trajectory tracking control scheme using adaptive uncertainty compensator is proposed for a quadrotor unmanned aerial vehicle (QUAV) with unknown external disturbances and system uncertainties. By dividing the quadrotor system into three subsystems, i.e., dynamics of positions, attitude angles and angular velocities, virtual controller design for subsystems can tackle underactuated constraints well. The derivatives of the virtual control signals are avoided by employing some first-order filters which are required successively in the dynamic surface control. Adaptive uncertainty compensators for unknown nonlinearities including unknown external disturbances and uncertainties contribute to the closed-loop system stability, uniformly ultimately bounded tracking errors and bounded states. Simulation studies and experiment results demonstrate the effectiveness and superiority of the proposed trajectory tracking control scheme.