This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sl...This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.展开更多
改进了一种基于图像统计信息的飞行器姿态估计算法.改进后的算法可以迅速地估计出飞行器的横滚角与俯仰角,减少了运算量,提高了姿态估计的实时性和鲁棒性,精度满足飞行器的姿态控制要求.将不同的算法进行了仿真比较,提出了一种应用方案...改进了一种基于图像统计信息的飞行器姿态估计算法.改进后的算法可以迅速地估计出飞行器的横滚角与俯仰角,减少了运算量,提高了姿态估计的实时性和鲁棒性,精度满足飞行器的姿态控制要求.将不同的算法进行了仿真比较,提出了一种应用方案,解决了姿态估计过程中横滚角与俯仰角耦合的问题.改进后的算法适用于装备以视觉系统作为导航系统的飞行器,尤其是只能装备小型视觉系统的微小型飞行器(MAV,M icro A ir Vehicles).将应用该算法的视觉导航系统与微惯性测量单元(M IMU,M iniature InertialMeasurementUnit)组合使用,可以增大飞行器姿态角估计的范围,进一步提高估计精度.展开更多
文摘This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.
文摘改进了一种基于图像统计信息的飞行器姿态估计算法.改进后的算法可以迅速地估计出飞行器的横滚角与俯仰角,减少了运算量,提高了姿态估计的实时性和鲁棒性,精度满足飞行器的姿态控制要求.将不同的算法进行了仿真比较,提出了一种应用方案,解决了姿态估计过程中横滚角与俯仰角耦合的问题.改进后的算法适用于装备以视觉系统作为导航系统的飞行器,尤其是只能装备小型视觉系统的微小型飞行器(MAV,M icro A ir Vehicles).将应用该算法的视觉导航系统与微惯性测量单元(M IMU,M iniature InertialMeasurementUnit)组合使用,可以增大飞行器姿态角估计的范围,进一步提高估计精度.
