论文部分内容阅读
为实现无人翼伞飞行器的曲线路径跟踪控制,提出了一种基于模拟对象的可变增益反步跟踪控制方法.首先,基于模拟对象跟踪建立翼伞飞行器的路径跟踪误差模型;其次,针对模型设计了可变增益反步跟踪控制器,通过合理设计增益参数,消除了部分复杂非线性项,避免了传统反步法中虚拟量的高阶导数问题,简化了控制器形式,以有利于工程实现;然后,根据Lyapunov理论设计反馈补偿项,在保证稳定性的同时提高了系统的鲁棒性;最后,将控制器应用于无人翼伞飞行器平面曲线的跟踪控制中.仿真与实验结果表明,所设计的控制器可以实现曲线路径的准确跟踪,且具有很好的鲁棒性.
In order to realize the tracking control of the curved path of the unmanned airfoil aircraft, a variable gain backstepping control method based on the simulated object is proposed.Firstly, the path tracking error model of the airfoil aircraft is established based on the simulation object tracking. Secondly, A variable gain backstepping controller is designed. By reasonably designing the gain parameters, some complex nonlinearities are eliminated and the high-order derivatives of the virtual quantities in the traditional backstepping method are avoided. The controller form is simplified to facilitate the engineering Then the feedback compensation term is designed according to Lyapunov theory to improve the robustness of the system while guaranteeing the stability. Finally, the controller is applied to the tracking control of unmanned airfoil plane curve. Simulation and experimental results show that The designed controller can track the curvilinear path accurately and has good robustness.