摘要
针对小型四旋翼无人机在丘陵山地果树植保作业场景下的自主飞行控制问题,设计一种基于反步法的轨迹跟踪控制器。根据丘陵山地果园植保特点,规划无人机作业轨迹;基于小型四旋翼无人机非线性模型,采用反步法设计得到力和力矩控制量,并进一步得到电机转速控制量;通过李雅普诺夫稳定性定理分析了系统的稳定性;最后通过仿真,验证了控制器具有良好的轨迹跟踪控制性能。
Aiming at the problem of autonomous flight control of a small-scale umnmmed autonomous agricultural drone in upland environment, a trajectory tracking controller based on back stepping mefllod is proposed. According to the characteristics of plant protection in upland environment, a special elliptical flight route is designed. Based on the rigid body dynamics of t31e unmanned quadcopter nonlinear model, the force and torque control quantities are designed by the back stepping method, and the motor speed control variable is further obtained. The controller system proved to be asympotical stable by Lyapunov stability theorem. Finally, the simulation results proves that the controller has good trajectory tracking control performmace
作者
陈再励
李丽丽
钟震宇
Chen Zaili;Li Lili;Zhong Zhenyu(Guangdong Institute of Intelligent Manufacturing 2.South China Robotics Innovation Research Institute 3.Shunde Polytechnic)
出处
《自动化与信息工程》
2018年第3期1-6,共6页
Automation & Information Engineering
基金
广东省科技计划项目(2015B010917001
2017B10117012)
佛山市科技创新专项资金(2013HK100113)
关键词
四旋翼无人机
轨迹跟踪
反步法
植保无人机
Quadcopter UAV
Trajectory Tracking
Back Stepping
Plant Protection UAV