基于IDA-PBC的四旋翼飞行器轨迹跟踪控制

Trajectory Tracking Control of Quadrotor Aircraft Based on IDA-PBC

针对四旋翼飞行器的轨迹跟踪控制问题,设计了一种互联与阻尼分配无源控制(IDA-PBC)的控制器实现轨迹跟踪控制。首先,采用牛顿-欧拉法对四旋翼飞行器进行数学建模;然后,在IDA-PBC控制器中引入收缩性(Contraction)定理应用于轨迹跟踪;最终,通过计算机仿真验证了所设计的IDA-PBC控制器的有效性、跟踪性能以及鲁棒性能。仿真结果表明,IDA-PBC控制器不仅可以有效地完成四旋翼飞行器的跟踪控制任务,而且通过与PID控制器进行仿真对比发现,IDA-PBC控制器还具有收敛速度快、跟踪误差低、鲁棒性强等优点。四旋翼飞行器的IDA-PBC控制器使系统具有较好的稳态性能与动态性能,满足四旋翼飞行器的跟踪控制要求。

In order to solve the trajectory tracking control problem of the quadrotor aircrafts,an Interconnection and Damping Assignment Passivity Based Controller(IDA-PBC)was designed to achieve the trajectory tracking control.Firstly,the mathematical model of quadrotor aircraft was developed by Newton-Euler method,and then the trajectory tracking task was implemented by introducing the contraction theorem to the IDA-PBC controller.Finally,the effectiveness,tracking performance and robustness of the proposed IDA-PBC controller were validated by computer simulations.The results showed that:1)The IDA-PBC can complete the tracking control task of the quadrotor aircraft effectively;and 2)Compared with the PID controller,the IDA-PBC has the advantages of quicker convergence speed,lower tracking error and stronger robustness.With the IDA-PBC,the system has great steady-state performance and dynamic performance,which can meet the trajectory tracking control requirements of quadrotor aircrafts.