| 引用本文: | 李晓静,吴爱国,张兆龙.基于浸入和不变技术的非线性跟踪控制[J].控制理论与应用,2019,36(1):73~78.[点击复制] |
| LI Xiao-jing,WU Ai-guo,ZHANG zhao-long.Immersion and invariance modular nonlinear tracking control for an underactuated quadrotor[J].Control Theory and Technology,2019,36(1):73~78.[点击复制] |
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| 基于浸入和不变技术的非线性跟踪控制 |
| Immersion and invariance modular nonlinear tracking control for an underactuated quadrotor |
| 摘要点击 3018 全文点击 1212 投稿时间：2017-08-06 修订日期：2018-03-13 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2018.70558 |
| 2019,36(1):73-78 |
| 中文关键词 欠驱动系统 四旋翼飞行器 非线性控制 渐近跟踪 |
| 英文关键词 immersion and invariance underactuated system quadrotor nonlinear control asymptotic tracking |
| 基金项目 国家自然科学基金青年项目(Grant No. 61603274),天津市高校“优秀青年教师资助计划”（401007008）、天津理工大学基金项目（YB16-05，YB15-37）。 |
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| 中文摘要 |
| 为实现欠驱动四旋翼飞行器的位置及偏航渐近跟踪, 本文基于浸入和不变技术(immersion and invariance,
I&I)提出非线性跟踪控制方法. 针对四旋翼飞行器的欠驱动特性, 设计了内/外环分别为姿态和位置的双闭环结构, 并采
用浸入和不变技术构建内/外环的稳定跟踪控制器, 利用李雅普诺夫定理保证闭环系统的渐近稳定性. 最后, 在
MATLAB/Simulink环境下进行数值仿真, 验证了I&I控制方案的有效性. |
| 英文摘要 |
| An immersion and invariance-based (I&I) nonlinear tracking control, is addressed to achieve asymptotic
tracking for 3-D position and yaw motion for an underactuated quadrotor. In the underlying control scheme, an inner/outerloop
construction is designed to handle the underactuated property. The I & I technology is constructed for stable tracking.
Lyapunov Theorem is exploited to guarantee the asymptotic tracking stability of resulting closed-loop system. Numerical
simulations on MATLAB/Simulink environment are included to illustrate the effectiveness of proposed I&I control scheme. |