微型扑翼飞行器的自适应位置跟踪控制器

Adaptive Position Tracking Controller for the Flapping Wing Micro Aerial Vehicle

微型扑翼飞行器是飞行器发展的重要方向,其位置跟踪控制成为该研究面对的首要问题.本文针对微型扑翼飞行器(flapping wing micro aerial vehicle,FWMAV)的位置跟踪控制问题展开研究,提出了一种可以避免控制系统陷入奇异且理论跟踪误差为零的自适应控制器.具体而言,首先提出了零梯度位置跟踪控制器.而后,理论分析表明其在解决FWMAV位置跟踪控制问题时存在局限性,即该控制器总是存在理论位置跟踪误差.为了弥补这一缺点,对零梯度控制器进行改进,提出了一种理论位置跟踪误差为零的自适应控制器,并利用非线性激励函数加快了位置跟踪误差的收敛速度.最后,仿真实验验证了该控制器的优越性.

The flapping-wing micro aerial vehicle(FWMAV)represents an important direction in the development of aircraft,and the performance of its position tracking control is a critical factor in its development.The FWMAV position-tracking-control problem is studied,and an adaptive controller for position tracking control is proposed,which can solve the singular state problem with zero theoretical error.Specifically,a zero-gradient position controller has been proposed,but theoretical analysis reveals that it has limitations in solving the position-tracking-control problem.We report the existence of a theoretical position-tracking error for the controller,for which a theoretical analysis is provided.To remedy this weakness,an adaptive controller that has zero theoretical tracking error is proposed,which uses a nonlinear activation function to accelerate the convergence speed.Simulation results are presented,which verify the superiority of the proposed controller.