四旋翼无人机安全轨迹跟踪控制

Safety-critical trajectory tracking control of quadrotor UAVs

中文关键词  四旋翼无人机  终端滑模  控制障碍函数  安全约束

英文关键词  quadrotor UAVs  terminal sliding mode  control barrier function  safe constraints

中文摘要

      针对存在安全约束的四旋翼无人机, 为了保证其能够快速稳定地跟踪给定轨迹, 本文提出了一种基于双闭环思想及控制障碍函数求解二次规划问题的控制器设计框架. 首先, 考虑到无人机的模型不确定性及外界干扰问题, 基于快速非奇异终端滑模面设计了双闭环标称控制器, 能够实现有限时间快速收敛. 进一步地, 为了解决无人机遇到的状态、距离约束等安全控制问题, 利用控制障碍函数, 将带有约束的控制器设计问题转化成二次规划的求解问题. 最后, 对提出的控制策略进行了仿真, 验证了控制器的快速性和鲁棒性, 并实现了给定轨迹的安全跟踪.

英文摘要

      Considering the quadrotor UAVs with safe constraints, a double closed-loop and CBF-QP control framework is proposed to tackle the constrained trajectory tracking problem with model uncertainties and external disturbances. First, a nonsingular fast terminal sliding mode controller is introduced, and a finite-time fast convergence is achieved. Furthermore, the tracking with the state and distance constraints is considered a safety-critical control problem, and the constraints are formulated by control barrier functions. The controller is designed via a quadratic programming process. The proposed control framework is numerically simulated, and the results illustrate the effectiveness and robustness of the proposed control strategy.