四旋翼飞行器预定时间自适应轨迹跟踪控制

Predefined-time adaptive trajectory tracking control for a quadrotor UAV

中文关键词  四旋翼飞行器  预定时间控制  指令滤波反步法

英文关键词  quadrotor UAV  predefined-time control  command filtered backstepping

中文摘要

      针对具有外部扰动和动态不确定性的四旋翼飞行器,本文提出了基于指令滤波反步法的预定时间自适应轨迹跟踪控制方案.通过引入指令滤波和构建非光滑误差补偿机制,有效地解决了“复杂性爆炸”的问题,并且在预定的时间内移除了滤波误差对系统性能的影响.所提出的预定时间自适应轨迹跟踪控制方案保证了闭环系统实际预定时间稳定,且闭环信号是预定时间有界的.通过调整控制参数,可以使得位置和姿态跟踪误差在预定的时间内收敛到原点附近的邻域内.最后,通过仿真算例验证了所提出的预定时间控制算法的有效性和优越性.

英文摘要

      This paper proposes a command filter-based predefined-time adaptive trajectory tracking control scheme for a quadrotor unmanned aerial vehicle (UAV) with external disturbances and dynamic uncertainties. By introducing the command filter and constructing the nonsmooth error compensation mechanism, the “explosion of complexity” problem is effectively addressed as well as the influence of filtered error for the system performance is eliminated in a predefined time. The proposed predefined-time adaptive trajectory tracking control scheme ensures that the closed-loop system is practically predefined-time stable, and the closed-loop signals are predefined-time bounded. By adjusting the control parameters, the position and attitude tracking errors can converge to the neighbourhood of the origin in a predefined time. Finally, a simulation example verifies the effectiveness and superiority of the presented predefined-time control strategy.