| 引用本文: | 王宁,王永,余明裕.四旋翼飞行器自适应动态面轨迹跟踪控制[J].控制理论与应用,2017,34(9):1185~1194.[点击复制] |
| WANG Ning,WANG Yong,ER Meng-Joo.Adaptive dynamic surface trajectory tracking control of a quadrotor unmanned aerial vehicle[J].Control Theory and Technology,2017,34(9):1185~1194.[点击复制] |
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| 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 3338 全文点击 2296 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. |
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| 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. |
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