摘要
设计了一种以旋翼为基础适应城区室内侦察的陆空两栖机器人,对陆空两栖机器人控制方案进行了分析,并建立了机器人飞行系统动力学模型.运用以李雅普诺夫稳定性理论为基础的逐步后推控制设计方法,对陆空两栖机器人飞行系统各个通道的控制律进行了设计.在Matlab软件环境中进行了仿真,得到飞行系统各通道响应曲线,表明飞行系统能够完成预定动作,证明了控制率的有效性.
A new air-ground amphibious vehicle based on quad rotor was proposed to meet the need of indoor reconnaissance.The control strategy of the vehicle was analyzed.Then the dynamics model of flight system was built.A Backstepping control design method based on Lyapunov stability theory was used to design the control law of each attitude of the system.Through simulation with Matlab software,the response curve of each attitude was obtained for the flight system.The analysis results show that the vehicle can complete the scheduled action,and prove the validity of the control laws.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2015年第12期1257-1261,共5页
Transactions of Beijing Institute of Technology
基金
国家部委预研项目(62201040303)
关键词
陆空两栖机器人
飞行控制系统
逐步后推算法
air-ground amphibious vehicle
flight control system
Backstepping arithmetic
