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

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

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.