摘要
针对四旋翼飞行器轨迹跟踪控制问题,考虑模型参数不确定的情况,提出了一种基于收缩理论与反步法的四旋翼飞行器自适应控制算法。首先,介绍了基于微分几何的收缩理论并给出了四旋翼飞行器的动力学模型;然后,提出了一种自适应收缩反步控制方法应用于飞行器跟踪期望轨迹;最后,分析了系统的增量稳定性,证明了系统是误差状态收敛的。积分反步(IB)与自适应收缩反步(ACB)的对比实验表明,应用此控制算法的飞行器系统鲁棒性更强,能够精确地完成轨迹跟踪任务。
Considering the uncertain parameters in the model of the trajectory tracking and controlling of quad-rotor aircrafts an adaptive control algorithm is proposed based on the contraction theory and the backstepping method.Firstly the contraction theory based on differential geometry is introduced and the dynamic model of the quad-rotor aircraft is given.Then the adaptive contraction backstepping control method is proposed for tracking the desired trajectory of the aircraft.Finally the incremental stability of the system is analyzed and it is proved that the error of the system is converged.The simulation results of Integral Backstepping(IB)and Adaptive Contraction Backstepping(ACB)show that the aircraft system using the proposed control algorithm has higher robustness and can implement trajectory tracking more accurately.
作者
张果
卢天秀
曹立佳
林达
ZHANG Guo;LU Tianxiu;CAO Lijia;LIN Da(Artificial Intelligence Key Laboratory of Sichuan Province,Yibin 644000 China;Sichuan University of Science and Engineering,School of Automation and Information Engineering,Yibin 644000 China;Sichuan University of Science and Engineering,School of Mathematics and Statistics,Zigong 643000 China;Sichuan Key Provincial Research Base of Intelligent Tourism,Zigong 643000China;School of Information and Electronics Engineering Xuzhou University of Technology,Xuzhou 221111 China)
出处
《电光与控制》
CSCD
北大核心
2020年第1期26-31,41,共7页
Electronics Optics & Control
基金
国家自然科学基金(11501391)
四川省科技计划项目(19ZDZX0037)
四川省智慧旅游研究基地规划项目资助(ZHZJ18-01)
四川理工学院人才引进项目(2018RCL18)
关键词
四旋翼飞行器
反步法
自适应控制
收缩理论
quad-rotor aircraft
backstepping method
adaptive control
contraction theory
