| 引用本文: | 马浩翔,陈谋,吴庆宪.具有输入输出约束的无人直升机预设性能安全跟踪控制[J].控制理论与应用,2024,41(1):39~48.[点击复制] |
| MA Hao-xiang,CHEN Mou,WU Qing-xian.Prescribed performance safe tracking control for the unmanned helicopter with input and output constraints[J].Control Theory and Technology,2024,41(1):39~48.[点击复制] |
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| 具有输入输出约束的无人直升机预设性能安全跟踪控制 |
| Prescribed performance safe tracking control for the unmanned helicopter with input and output constraints |
| 摘要点击 1554 全文点击 2212 投稿时间：2022-04-26 修订日期：2023-10-07 |
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| DOI编号 10.7641/CTA.2023.20316 |
| 2024,41(1):39-48 |
| 中文关键词 无人直升机 安全控制 预设性能 自适应控制 输入饱和 |
| 英文关键词 unmanned helicopter safe control prescribed performance adaptive control input saturation |
| 基金项目 国家自然科学基金项目(U2013201), 国家杰出青年科学基金项目(61825302), 江苏省重点研发计划(社会发展)项目(BE2020704)资助. |
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| 中文摘要 |
| 针对无人直升机姿态与高度系统存在未知外部干扰、输入饱和、姿态与高度约束等问题, 本文提出一种具
有输入输出约束的预设性能安全跟踪控制方法. 首先, 针对无人直升机的姿态与高度约束, 通过设计一类边界保护
算法, 构建了新的安全期望跟踪信号. 为了保证系统对于安全期望跟踪信号的跟踪性能, 将预设性能函数与边界保
护算法进行结合, 并对跟踪误差进行转换. 针对系统的输入饱和现象, 使用Sigmoid函数进行逼近; 同时, 针对饱和函
数的逼近误差与未知外部干扰构成的复合干扰, 采用参数自适应方法对其上界进行逼近. 然后, 结合反步控制方法
设计了安全跟踪控制器, 并通过Lyapunov稳定性理论证明了闭环系统所有信号的收敛性, 保证了无人直升机的安全
跟踪性能. 最终, 通过数值仿真验证了所提控制方法的有效性. |
| 英文摘要 |
| This paper deals with the problem of prescribed performance safe tracking control for the attitude and altitude
system of unmanned helicopter with unknown external disturbances, input saturation, and constraints of attitude and
altitude. Firstly, by considering the constraints of attitude and altitude, a safe desired tracking signal is constructed with
the application of an output boundary protection algorithm. Furthermore, combining with the proposed output boundary
protection algorithm, the prescribed performance function is developed to guarantee the tracking performance of the safe
desired tracking signal. A Sigmoid function is utilized to tackle the problem of saturation input. To compensate the compound
disturbances which include external disturbances and the estimation error of Sigmoid function, a parameter adaptive
method is adopted to approximate its upper bound. Combining with the backstepping technology, the safe tracking controller
is investigated. The Lyapunov stability theory is employed to guarantee the boundedness of all closed-loop signals
and the safe tracking performance of the unmanned helicopter system. Simulation results of an example are provided to
illustrate the effectiveness of the proposed control scheme. |
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