| 引用本文: | 喻煌超,曹粟,彭羽凡,王祥科.面向机动飞行的固定翼无人机位姿跟踪控制[J].控制理论与应用,2023,40(12):2217~2224.[点击复制] |
| Yu Huangchao,Cao Su,Peng Yufan,Wang Xiangke.Pose tracking control of fixed-wing unmanned aerial vehicle towards maneuvering flight[J].Control Theory and Technology,2023,40(12):2217~2224.[点击复制] |
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| 面向机动飞行的固定翼无人机位姿跟踪控制 |
| Pose tracking control of fixed-wing unmanned aerial vehicle towards maneuvering flight |
| 摘要点击 966 全文点击 324 投稿时间：2023-05-20 修订日期：2023-11-28 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2023.30345 |
| 2023,40(12):2217-2224 |
| 中文关键词 固定翼 无人机 机动飞行 飞行控制 对偶四元数 位姿一体化控制 |
| 英文关键词 fixed wing unmanned aerial vehicle maneuvering flight flight control dual quaternion integrated position and attitude control |
| 基金项目 湖南省青年科技人才项目(2022RC1095), 国家自然科学基金项目(61973309, U23B2032)资助. |
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| 中文摘要 |
| 机动飞行是无人机系统技术的重要发展方向之一. 针对机动飞行位姿一体化控制需要及固定翼无人机平
台欠驱动特点, 本文提出了一种适用于固定翼无人机机动飞行的位姿同步控制方法. 首先, 利用对偶四元数紧
凑、无奇异性的特点建立固定翼无人机位姿一体化模型. 然后, 提出虚拟坐标系设计方法, 将控制力矩映射到未约
束的状态量. 通过引入非线性增量式反步法, 设计了无人机位姿跟踪控制律, 实现了位姿与旋量的稳定跟踪. 最后,
基于Lyapunov稳定性理论开展了系统稳定性分析, 通过数值仿真与半实物仿真验证了本文方法的可行性. |
| 英文摘要 |
| Autonomous maneuvering flight is becoming one of the important development directions of UAV system
technology. Aiming at the need for integrated control of maneuvering flight position and attitude and the characteristics
of underactuated fixed-wing UAVs, a method suitable for maneuvering flight of fixed-wing UAVs is proposed. Firstly, the
fixed-wing unmanned aerial vehicle’s kinematics and dynamics modeling is carried out by using the dual quaternion. Then,
a virtual frame method is proposed, and the control moment inputs are mapped to the state equations of unconstrained
states. Further, we introduce the nonlinear incremental backstepping method, resulting in the pose tracking controller,
which realizes the stable tracking of the twist and the pose. Finally, the feasibility of the proposed controller is verified
through numerical simulation and hardware-in-the-loop simulation. |
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