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针对四旋翼无人机(UAV)飞行器系统欠驱动特点,引入动态面控制方法,对四旋翼UAV的位置和姿态进行控制。考虑到飞行器速度和角速度难以测量,设计高增益观测器得到UAV的速度和角速度的估计值。相对于反演法,动态面控制的设计更简洁,并且通过引入滤波器来求取控制信号中的系统状态的导数项。另外,常用的时标分离方法不能给出全局稳定性分析,本文引入动态面设计控制律保证系统所有信号半全局一致有界,同时给出系统全局稳定性证明。仿真结果表明,四旋翼UAV能快速精确完成目标跟踪。
In view of the characteristics of underactuated four-rotor UAV aircraft system, the dynamic surface control method is introduced to control the position and attitude of the quadrotor UAV. Taking into account the difficulty of aircraft velocity and angular velocity measurement, the design of high-gain observer UAV velocity and angular velocity estimates. Compared with the inversion method, the design of the dynamic surface control is more concise, and the derivative of the system state in the control signal is obtained by introducing the filter. In addition, the commonly used time-scale separation method can not give the global stability analysis. In this paper, the control law of dynamic surface design is introduced to ensure that all the signals in the system are uniformly and bounded, and the global stability of the system is proved. The simulation results show that the quadrotor UAV can quickly and accurately complete the target tracking.