一种小型无人直升机轨迹跟踪控制方法

A Trajectory Tracking Control of Small-Scale Unmanned Helicopters

针对小型无人直升机不稳定、非线性、强耦合的特点,提出了一种基于滤波反步法的轨迹跟踪控制方法。首先对小型无人直升机的动力学模型进行等效变换,使系统的未知参数满足线性参数条件;然后利用反步法对其轨迹跟踪控制器进行设计;最后通过滤波器间接对中间虚拟控制信号进行求导,简化反步法的计算过程,同时运用Lyapunov稳定性理论证明补偿跟踪误差的全局指数稳定性。通过数值仿真对所设计的控制方法进行了验证,结果表明,基于滤波反步法设计的无人直升机轨迹跟踪控制方法具有良好的控制性能和较强的鲁棒性。

Aiming at the instability, nonlinearity and strong coupling of small-scale unmanned helicopters, a fil- tering backstepping-based trajectory tracking controller for the helicopter is designed. Firstly, 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 method is proposed to design the trajectory tracking controller. Secondly, a filter is used to calculate the middle virtual control signal derivatives, and the computational process of the controller is simplified. Furthermore, the exponential stability of the compensated tracking errors is testified by Lyapunov theory. Lastly, a series of simulations are conducted to verify the effectiveness of the controller. All the results show that the proposed controller based on filtering backstepping for the small-scale unmanned helicopters is robust and excellent.