基于自适应动态逆的四旋翼机器人控制器设计

Adaptive Dynamic Inversion Controller for Quad Rotor Aerial Robot

本文针对“X”型四旋翼空中机器人的轨迹跟踪问题,设计了一种自适应动态逆控制器。为了加强控制系统的鲁棒性,提出一个自适应动态矢量用于补偿模型逆误差,使系统达到Lyapunov渐近稳定。基于四旋翼机器人复杂的非线性动态模型,自适应动态逆控制器能在线估计并补偿四旋翼机器人的模型误差,使系统达到渐近稳定和轨迹跟踪的目的。MATLAB仿真实验表明该控制方案能满足系统稳定和轨迹跟踪的目的。

This paper presents an adaptive dynamic inversion controller for trajectory tracking of quad rotor aerial robot with X type configuration. In order to enhance the robustness of dynamic inversion controller, an adaptive dynamic variable vector is used to compensate the model inversion error and achieve the asymptotic stability. On the base of a nonlinear dynamic model of the quad rotor, adaptive dynamic inversion nonlinear controller is synthesized for the purpose of stabilization and trajectory tracking. The proposed control method can compensate the deviation of model inaccuracy. It behaves perfectly at the reference altitude and trajectory track in MATLAB simulation.