无人软翼飞行器直线航迹跟踪鲁棒反步控制

Robust backstepping control for straight-line trajectory tracking of unmanned parafoil vehicles

为实现无人软翼飞行器的直线航迹跟踪控制,提出一种基于模拟对象的可变增益鲁棒反步控制方法.基于模拟对象方法建立软翼飞行器的航迹跟踪误差模型,并设计了可变增益反步跟踪控制器,通过合理设计增益参数,消除了部分复杂非线性项,避免了传统反步法中虚拟量高阶导数问题,简化了控制器形式,更有利于工程实现.根据Lyapunov理论设计的鲁棒反馈补偿项,在保证稳定性的同时提高了系统的鲁棒性.将控制器应用于无人软翼飞行器平面直线航迹跟踪控制中,仿真实验表明,所设计的控制器可以实现直线航迹的精确跟踪,且具有很好的鲁棒性.

In order to implement straight-line trajectory tracking control for unmanned parafoil vehicles （ UPV）, a variable-gain robust backstepping control method was proposed based on a simulation object. A variable-gain baekstepping tracking controller was designed against the trajectory tracking error model, and proper design of gain parameters eliminated a part of complicated nonlinear terms and avoided higher derivatives in traditional backstepping methods so as to make the controller simpler and to be beneficial to engineering realization. The robust feedback compensation term designed according to the Lyapunov theory improved the system＇ s robustness while ensuring its stability. In addition, the controller was applied to UPV planar straight-line trajectory tracking control. The simulation experiment illustrates the good robustness of the proposed controller and the accurate tracking ability in straight-line trajecto- ries.