[1]马正华,张倩倩,陈岚萍.四旋翼飞行器自适应反演姿态控制[J].智能系统学报,2015,10(3):454-459.[doi:10.3969/j.issn.1673-4785.201405008]
MA Zhenghua,ZHANG Qianqian,CHEN Lanping.Attitude control of quadrotor aircraft via adaptive back-stepping control[J].CAAI Transactions on Intelligent Systems,2015,10(3):454-459.[doi:10.3969/j.issn.1673-4785.201405008]
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MA Zhenghua,ZHANG Qianqian,CHEN Lanping.Attitude control of quadrotor aircraft via adaptive back-stepping control[J].CAAI Transactions on Intelligent Systems,2015,10(3):454-459.[doi:10.3969/j.issn.1673-4785.201405008]
四旋翼飞行器自适应反演姿态控制
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
10
期数:
2015年第3期
页码:
454-459
栏目:
学术论文—智能系统
出版日期:
2015-06-25
- Title:
- Attitude control of quadrotor aircraft via adaptive back-stepping control
- Keywords:
- quadrotor aircraft; kinematics modeling; adaptive back-stepping control; attitude control; back-stepping; adaptive control
- 分类号:
- TP391.9
- 文献标志码:
- A
- 摘要:
- 为了解决四旋翼飞行器控制系统的姿态稳定控制问题,首先根据牛顿第二定律和欧拉方程建立了四旋翼飞行器运动学模型,并针对姿态控制问题对模型进行简化,然后把姿态控制系统分成3个二阶子系统,运用反演法对各个子系统分别设计,进一步运用自适应控制律引入积分项,补偿由模型简化引起的模型误差,从而提高系统对外部扰动和系统模型不确定性的鲁棒性.最后通过Matlab仿真验证出,改进的自适应积分反演控制器在四旋翼的姿态控制中对外部干扰信号有较强抑制作用,可以保证在模型参数不确定的情况下的全局稳定性.
- Abstract:
- In order to solve the stabilized attitude control problem of quadrotor aircraft, a kinematics model is established according to Newton’s second law and Euler equation. Next, the model is simplified to solve the attitude control problem. After that, the attitude control system is divided into 3 second-order subsystems and each subsystem is designed by the back-stepping control method. Next, an integral term is introduced by applying the adaptive control law to compensate the errors caused by simplified model, thereby improving robustness of the system against external disturbance and uncertainty of the system model. The simulation results using Matlab show that the stabilized attitude control of quadrotor aircraft has a strong inhibitory effect using the improved adaptive integral back-stepping controller and it guarantees global stability in the case of uncertain model parameters.
- 参考文献/References:
-
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备注/Memo
收稿日期:2014-5-13;改回日期:。
基金项目:国家自然科学基金资助项目(61201096);常州市科技计划项目(CJ20110023, CM20123006).
作者简介:马正华,男,1962年生,教授,主要研究方向为嵌入式系统应用、计算机控制技术、电力电子技术,曾获江苏省科技进步三等奖2项,中国机械工业联合会科技进步三等奖1项.发表学术论文100余篇.张倩倩,女,1988年生,硕士研究生,主要研究方向为计算机软件与理论、无人机控制系统. 陈岚萍,女,1974年生,副教授,博士,主要研究方向为复杂系统稳定性与跟踪控制、生产过程的优化控制及运动轨迹跟踪控制.完成或参与国家、省级课题项目4项,主持或参与其他各级各类课题5项.发表学术论文20余篇,被SCI检索3篇、EI检索10篇.
通讯作者:张倩倩. E-mail: zqq.08312102@163,com.
更新日期/Last Update:
2015-07-15