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对于四旋翼无人飞行器运送系统而言,需要保证飞行过程中负载的摆幅维持在适当的范围内,并且在飞行器到达目的地后负载无残余摆动.本文针对四旋翼无人飞行器运送系统,提出了一种新颖的轨迹规划与跟踪控制方法.论文首先得到了平面四旋翼无人飞行器的运动特性与负载摆角之间的非线性耦合关系.通过相平面内的几何分析,分别设计了两个轴方向上的分段式加速度轨迹.这种轨迹具有简洁的解析表达式并可获得较高的运送效率,同时满足飞行器的速度,加速度等物理约束.为了使四旋翼无人飞行器准确跟踪规划好的轨迹,本文基于反步法设计了一种非线性跟踪控制器,并通过李雅普诺夫方法对其闭环稳定性进行分析,证明其能使跟踪误差指数收敛于零.论文最后通过仿真结果验证了本文所提出方法的可行性与有效性,及其对外界干扰的鲁棒性.
For quadrotor UAV delivery systems, it is necessary to ensure that the swing of the load during flight is maintained within an appropriate range and there is no residual swing of the payload after the aircraft reaches its destination.In this paper, a four-rotor unmanned aerial vehicle (UAV) A novel trajectory planning and tracking control method is presented.First, the nonlinear coupling between the motion characteristics and the load swing angle of the planar quadrotor UAV is obtained.According to the geometric analysis in the phase plane, two Axis direction of the segmented acceleration trajectory.This trajectory has a simple analytic expression and can achieve higher delivery efficiency, while meeting the aircraft speed, acceleration and other physical constraints.In order to quadruped UAV accurately track planning In this paper, a nonlinear tracking controller is designed based on the backstepping method, and its closed-loop stability is analyzed by Lyapunov method, which proves that it can make the tracking error index converge to zero. Finally, the simulation results verify The feasibility and effectiveness of the proposed method and its robustness to external disturbances.