摘要
针对小型无人直升机的姿态与高度控制问题,本文提出了一种基于反步法的自适应控制策略.具体而言,首先对小型无人直升机的运动学模型进行了等效变换,使系统中未知参数满足线性参数化条件,然后应用反步法设计了包含主旋翼挥舞模型的姿态与高度自适应控制器,并借助Lyapunov方法和芭芭拉定理对闭环系统的稳定性进行了严格的数学分析.最后,对该控制器的性能进行了仿真验证,结果表明在直升机质量和惯性矩阵存在不确定性(未知)的情况下,该控制算法依然能够取得良好的控制效果.
A backstepping-based adaptive attitude and height controller is proposed for a small-scale unmanned heli- copter. The kinetic model of the small-scale unmanned helicopter is equivalently transformed to make the uncertain system parameters satisfy the linear parameterization conditions. The backstepping approach is employed to design the attitude and height adaptive controller including the main rotor flapping model. The stability of the closed-loop system is rigorously proved by Lyapunov techniques and Barbalat＇s lemma. Numerical simulations are carried out; results demonstrate that the controller can achieve superior performance in the presence of uncertainties in system mass and inertia matrices.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2012年第3期381-388,共8页
Control Theory & Applications
基金
国家自然科学基金资助项目(60875055)
关键词
无人直升机
自适应控制
反步法
姿态控制
高度控制
unmanned helicopter
adaptive control
backstepping
attitude control
height control
