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针对地面目标机动不确定和风扰动条件下的四旋翼无人机目标跟踪问题,提出了一种全局稳定的控制策略。控制系统分为位置和姿态两个子系统。位置控制部分针对缺少目标与载机的相对速度问题,设计了输出有界的基于观测器的滑模控制器,且其输出能够保证所生成的期望姿态指令有界;设计了基于四元数的姿态控制器,通过增加非线性切换项,加快了动态跟踪速度,并得到了整个位置-姿态系统的稳定性证明。建立了风扰动模型,进行了目标机动情况下的跟踪飞行仿真,得到了满意的跟踪效果。
In order to solve the target tracking problem of quadcopter UAV under ground maneuver uncertainties and wind disturbances, a globally stable control strategy is proposed. Control system is divided into two subsystems of position and attitude. For the lack of relative speed between the target and the carrier, the position control part designs a bounded observer-based sliding mode controller whose output can guarantee that the generated desired pose command is bounded. Based on quaternion The attitude controller accelerates the dynamic tracking speed by adding the nonlinear switching term and obtains the stability proof of the whole position - attitude system. The wind disturbance model was established and the tracking flight simulation under the target maneuver was carried out. The satisfactory tracking effect was obtained.