输入受限下的四旋翼飞行器姿态参数化控制

Parametric Attitude Control of Quad-Rotor UAVs with Input Constraints

针对四旋翼无人机在输入受限情况下的姿态跟踪控制问题,提出了一种参数化控制方法。首先建立了四旋翼姿态误差二阶全驱模型,采用一种参数化控制器,使姿态误差系统等价于一阶定常闭环系统,从而实现姿态角收敛至跟踪信号。考虑四旋翼输入受限及更好的跟踪性能,采用智能优化的方法,利用粒子群算法优化控制律中的参数矩阵。仿真实验表明:与反步法相比,提出的参数化控制器能够在输入受限情况下更快速地跟踪姿态指令,具有更好的暂态性能,实现了四旋翼高精度姿态跟踪控制。

Aiming at the attitude tracking control problem of quad-rotor UAV under input constraints,a parametric control method is proposed.Firstly,a second-order,full-actuated model of quad-rotor attitude error is established,and a parametric controller is adopted to make the attitude error system equivalent to a first-order steady closed-loop system,which make the attitude errors converge to the tracking signal.Considering the input constraints and for better tracking performance of the quad-rotor,an intelligent optimization method is adopted and the particle swarm optimization algorithm is used to optimize the parameter matrix in the control law.The simulation experiment shows that compared with the backstepping method,the proposed parametric controller can track faster the attitude commands with input constraints,which has better transient performance,thus can realize high-precision attitude tracking of the quad-rotor UAVs.