具有时变扰动的四旋翼无人机有限时间预定性能控制

Finite time prescribed performance control of quadrotor UAVs with time varying disturbances

针对外界扰动、模型不确定性以及输出误差约束情况下的四旋翼无人机轨迹跟踪问题,提出有限时间预定性能控制策略.首先,将无人机动力学模型解耦为姿态子系统和位置子系统;其次,引入误差转换函数和性能约束函数,通过合理设计快速终端滑模面,实现转换误差有限时间收敛,从而实现原系统输出误差约束控制;进一步,通过稳定性分析可以得出所设计的控制器能够保证系统有限时间稳定,并且具有良好的暂稳态性能;最后,通过实例仿真验证所设计方法的有效性。

This paper investigates the finite time prescribed performance control strategy for the trajectory tracking problem of quadrotor UAVs with time-vary disturbance, model uncertainty and constrain of the output error. Firstly, the UAVs dynamic model is decoupled into an attitude subsystem and a position subsystem. Then, the finite time convergence of the conversion error is realized, and the output error of the original system is limited by introducing the error conversion function, performance constraint function and designing the fast terminal sliding surface reasonably. Furthermore, the stability analysis shows that the designed controller can guarantee the finite time stability of the system, and make the system have good transient stability performance. Finally, a simulation example shows the effectiveness of the proposed methods.