基于反步法的无人翼伞航迹跟踪控制

摘要

In order to implement the planar trajectory tracking control for Unmanned Parafoil Vehicle (UPV),a backtepping tracking method is proposed. A variable-gain backstepping tracking controller is designed against trajectory tracking error model based on simulation object, which improved system tracking accuracy while ensuring stability. In addition,the controller is applied to UPV planar trajectory tracking control. The simulation experiment illustrates the good robustness of the proposed controller,and accurate tracking ability in trajectory tracking.%为实现无人翼伞飞行器的直线航迹跟踪控制,提出了一种基于模拟对象的可变增益反步跟踪控制方法.基于模拟对象方法得到翼伞飞行器的航迹跟踪误差模型,并针对该模型设计了可变增益反步跟踪控制律,在保证稳定性的同时提高了系统的跟踪精度.将控制器应用于无人翼伞飞行器平面航迹跟踪控制中,仿真实验表明,所设计的控制器可以实现航迹的精确跟踪,且具有很好的鲁棒性.