基于Lyapunov的六旋翼无人机姿态镇定控制技术的研究

Attitude Control of VTOL Hexrotor Aircraft Based on Lyapunov Theory

基于每一个螺旋桨呈60°间隔分布的六旋翼无人机系统为研究对象,利用四元数法对其建模以克服欧拉角表示法中的奇异性,在科氏力矩和回转力矩的作用下,研究六旋翼无人机的姿态控制问题,设计得到了六旋翼无人机的姿态控制的渐进稳定控制律,实现了六旋翼无人机的姿态角和姿态角速度的渐近稳定。Matlab仿真研究验证了所提控制方法的有效性。

The considered hexrotor is a symmetric VTOL-UAV with six rigid mono-directional propellers, and the interval between each propeller is 60°. In order to overcome the inherent geometric singularity of Euler angle description, quaternion representation was used to model. The effect of gyroscopic torques and reactive torques was taken into account when simplifying our model. An approach for hexrotor was proposed in which two nearly equivalent control laws were used to obtain asymptotic stability of attitude angles and attitude angular velocity of the hexrotor UAV. Simulation results emphasize the effectiveness of the proposed control scheme.