| 引用本文: | 魏青铜,陈谋,吴庆宪.输入饱和与姿态受限的四旋翼无人机反步姿态控制[J].控制理论与应用,2015,32(10):1361~1369.[点击复制] |
| WEI Qing-tong,CHEN Mou,Wu Qingxian.Backstepping-based attitude control for a quadrotor UAV with input saturation and attitude constraints[J].Control Theory and Technology,2015,32(10):1361~1369.[点击复制] |
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| 输入饱和与姿态受限的四旋翼无人机反步姿态控制 |
| Backstepping-based attitude control for a quadrotor UAV with input saturation and attitude constraints |
| 摘要点击 3752 全文点击 3307 投稿时间：2015-05-30 修订日期：2015-08-26 |
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| DOI编号 10.7641/CTA.2015.50476 |
| 2015,32(10):1361-1369 |
| 中文关键词 四旋翼无人机 反步 非线性干扰观测器 神经网络 受限控制 |
| 英文关键词 quadrotor UAV backstepping nonlinear disturbance observer neural networks limited control |
| 基金项目 国家自然科学基金项目(61573184,61374212), 江苏省自然科学基金项目(SBK20130033), 教育部博士点基金(20133218110013), 江苏省六大高峰 人才项目(2012-XXRJ-010), 南京航空航天大学研究生创新基地开放基金项目(kfjj20130206)资助. |
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| 中文摘要 |
| 本文针对四旋翼无人机研究了鲁棒反步姿态控制策略. 由于四旋翼无人机结构复杂, 其非线性数学模型难
以精确建立, 因此在控制器设计过程中需要综合考虑模型不确定性、未知外部干扰、输入饱和以及姿态受限等因
素. 针对模型中的不确定项, 使用神经网络进行逼近; 对于外部未知干扰, 使用非线性干扰观测器进行补偿; 使用双
曲正切函数逼近饱和函数, 解决输入饱和问题; 同时使用界限Lyapunov函数设计控制器, 确保姿态满足限制条件. 最
后, 设计四旋翼无人机反步姿态控制器, 并根据Lyapunov稳定性定理证明了闭环控制系统的有界稳定. 仿真结果表
明了所研究控制方法的有效性. |
| 英文摘要 |
| We investigate the robust backstepping-based attitude control strategy for a quadrotor unmanned aircraft
vehicle (UAV). Because of its complex structure, a nonlinear mathematical model of UAV is difficult to be built accurately.
Thus, in the process of controller design, we need to consider the following factors comprehensively: model uncertainties,
unknown external disturbances, input saturations and attitude constraints. A neural network (NN) method is employed
to estimate the model uncertainties of the system; the nonlinear disturbance observer is introduced to compensate for the
external disturbances; the hyperbolic tangent function is used to approximate the saturation function for solving the input
saturation problem. In designing the controller, we use the barrier Lyapunov function (BLF) to guarantee the constraints
of the attitude. Finally, a backstepping-based controller is developed to control the attitude of the quadrotor UAV. The
closed-loop control system is proved to be uniformly bounded by using Lyapunov stability theory. Simulation results are
given to demonstrate the effectiveness of the proposed control strategy. |
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