四旋翼无人机预设性能反步轨迹跟踪控制

Backstepping trajectory tracking control for quadrotor UAV with prescribed performance

针对四旋翼无人机轨迹跟踪过程中存在外界干扰和跟踪误差估计的问题,设计了一种基于双闭环的预设性能函数约束的反步自适应控制方法。首先,将四旋翼无人机系统转化为位置外环和姿态内环的双闭环系统,利用性能函数通过误差转换将输出约束问题转化为无约束问题;然后,根据反步自适应方法分别对位置子系统和姿态子系统设计控制器,设计指数干扰观测器对参数不确定和外界干扰进行估计。仿真结果表明,所设计的控制器既能保证系统的稳定性和鲁棒性,又具有良好的瞬态误差跟踪特性。

For the problem of external disturbance and tracking error during the trajectory tracking of quadrotor UAV, a backstepping adaptive control method based on double closed-loop with prescribed performance function constraints was designed. Firstly, the quadrotor UAV system was converted into a double closed-loop system with position outer loop and attitude inner loop and the performance constraint function was used to transform the output constraint issue into an unconstrained issue through error transformation. Then, the controller of the position subsystem and the attitude subsystem was designed according to the backstepping adaptive method, and the disturbance observer was designed to estimate the parameter uncertainty and the external disturbance. Simulation results show that the designed controller could not only ensure the stability and robustness of the system, but also has good transient error tracking characteristics.