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
针对由天线罩误差引起的寄生回路影响制导系统稳定性的问题,提出了基于状态空间简化模型的天线罩寄生回路稳定性分析方法。为了准确分析天线罩误差特性对制导系统稳定性的影响,首先建立包含天线罩误差特性的导引头部件级模型,并采用低...针对由天线罩误差引起的寄生回路影响制导系统稳定性的问题,提出了基于状态空间简化模型的天线罩寄生回路稳定性分析方法。为了准确分析天线罩误差特性对制导系统稳定性的影响,首先建立包含天线罩误差特性的导引头部件级模型,并采用低阶等效系统拟配方法建立导引头简化模型。该简化模型能够准确表征导引头的工作特性,并有效降低了制导回路状态空间简化模型的阶数;在此基础上,采用小扰动线性化方法建立制导/控制/弹体多回路线性时不变(linear time invariant, LTI)简化模型,并与导引头低阶等效模型结合,建立了包含天线罩误差斜率参数的制导回路,以简化模型状态空间描述形式。基于以上引入天线罩误差特性的制导回路状态空间模型,采用根轨迹方法分析确定了天线罩误差斜率的稳定域,分析了不同的天线罩误差斜率对制导系统稳定性的影响规律。最后,基于制导回路非线性模型进行仿真验证,仿真结果验证了基于简化模型的天线罩寄生回路稳定性分析方法的正确性。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.
文摘针对由天线罩误差引起的寄生回路影响制导系统稳定性的问题,提出了基于状态空间简化模型的天线罩寄生回路稳定性分析方法。为了准确分析天线罩误差特性对制导系统稳定性的影响,首先建立包含天线罩误差特性的导引头部件级模型,并采用低阶等效系统拟配方法建立导引头简化模型。该简化模型能够准确表征导引头的工作特性,并有效降低了制导回路状态空间简化模型的阶数;在此基础上,采用小扰动线性化方法建立制导/控制/弹体多回路线性时不变(linear time invariant, LTI)简化模型,并与导引头低阶等效模型结合,建立了包含天线罩误差斜率参数的制导回路,以简化模型状态空间描述形式。基于以上引入天线罩误差特性的制导回路状态空间模型,采用根轨迹方法分析确定了天线罩误差斜率的稳定域,分析了不同的天线罩误差斜率对制导系统稳定性的影响规律。最后,基于制导回路非线性模型进行仿真验证,仿真结果验证了基于简化模型的天线罩寄生回路稳定性分析方法的正确性。