预定性能约束下的四旋翼无人机固定时间控制

Fixed-time control of quadrotor UAVs with prescribed performance constrains

中文关键词  四旋翼无人机  扩张状态观测器  滑模控制  固定时间  预定性能

英文关键词  quadrotor UAVs  extended state observer  sliding mode control  fixed-time  prescribed performance control

中文摘要

      针对速度信息不可测和未知时变扰动下的四旋翼无人轨迹跟踪控制问题, 本文提出了基于固定时间扩张 状态观测器的预定性能控制策略. 首先, 通过设计固定时间扩张状态观测器实现速度和未知时变扰动的精准观测, 减少了控制器设计时对系统模型的依赖; 其次, 通过引入时变约束函数和固定时间控制方法, 实现系统暂稳态过程 约束与固定时间轨迹跟踪; 进而, 通过李雅普诺夫方法证明了所设计的观测器和控制器能够保证系统固定时间稳 定; 最后, 通过数值实例仿真和实验验证了所设计方法的有效性和实用性.

英文摘要

      A prescribed performance control strategy based on a fixed time extended state observer is proposed for trajectory tracking control problem of quadrotor unmanned aerial vehicles with unmeasurable velocity information and unknown time-varying disturbances. Firstly, the precise observation of unknown velocity and unknown time-varying disturbance can be achieved by designing a fixed-time extended state observer, and it can reduce the dependence on the system model for controller designing; Then, the transient steady-state process constraints and fixed time trajectory tracking are achieved by introducing time-varying constraint function and fixed-time control methods; Furthermore, it is proven that the designed observer and controller can ensure fixed-time stability of the system through the Lyapunov method; Finally, numerical simulation and experiment are conducted to validate the effectiveness and practicality of the proposed method.