四旋翼飞行器自适应动态面轨迹跟踪控制

摘要

针对具有未知外界扰动和系统不确定性集总未知非线性的四旋翼飞行器,提出了一种采用自适应不确定性补偿器的自适应动态面轨迹跟踪方法.通过将四旋翼飞行器系统分解为位置、欧拉角和角速率3个动态子系统,使各子系统虚拟控制器设计能充分考虑欠驱动约束;结合动态面控制技术,通过采用一阶低通滤波器,避免对虚拟控制信号求导;进而设计自适应不确定性补偿器,处理未知外界扰动和系统不确定性,最终确保闭环控制系统的稳定性、跟踪误差一致最终有界和系统所有状态信号有界.仿真研究和实验结果验证了本文提出控制方法的有效性和优越性.%In this paper, an adaptive dynamic surface trajectory tracking control scheme using adaptive uncertainty compensator is proposed for a quadrotor unmanned aerial vehicle(QUAV)with unknown external disturbances and system uncertainties. By dividing the quadrotor system into three subsystems, i.e., dynamics of positions, attitude angles and angular velocities,virtual controller design for subsystems can tackle underactuated constraints well. The derivatives of the virtual control signals are avoided by employing some first-order filters which are required successively in the dynamic surface control. Adaptive uncertainty compensators for unknown nonlinearities including unknown external disturbances and uncertainties contribute to the closed-loop system stability,uniformly ultimately bounded tracking errors and bounded states. Simulation studies and experiment results demonstrate the effectiveness and superiority of the proposed trajectory tracking control scheme.