四旋翼无人飞行器的轨迹跟踪与滑模事件驱动控制
Trajectory tracking and sliding mode event-triggered control for a quadrotor unmanned aerial vehicle
摘要点击 235  全文点击 281  投稿时间:2018-03-05  修订日期:2018-07-30
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DOI编号  10.7641/CTA.2018.80149
  2019,36(7):1083-1089
中文关键词  四旋翼飞行器  轨迹跟踪控制  反步  滑模控制  事件驱动
英文关键词  Quadrotor Unmanned Aerial Vehicles  Trajectory tracking control  Backstepping  Sliding mode control  Event-triggered  
基金项目  国家自然科学基金,省自然科学基金,其它
学科分类代码  
作者单位E-mail
王婕 河北工业大学控制科学与工程学院 wangjie@hebut.edu.cn 
马晓 河北工业大学控制科学与工程学院  
宗群 天津大学电气自动化与信息工程学院  
王丹丹 天津大学电气自动化与信息工程学院  
中文摘要
      四旋翼飞行器作为一个典型的欠驱动的系统,具有强耦合、非线性等特性。针对飞行器外部干扰、和通信资源受限条件下的轨迹跟踪控制问题,进行滑模事件驱动控制方法的研究。首先,分析动力学特性,通过时间尺度分解方法将系统解耦成位置子系统和姿态子系统.其次,将位置子系统转化为严格反馈形式,设计反步滑模控制器,实现位置轨迹稳定跟踪;针对姿态子系统存在时变有界扰动及通信受限,设计滑模事件驱动控制律,在抑制干扰的同时实现对虚拟姿态跟踪指令的跟踪。根据Lyapunov分析方法证明了所设计控制器的稳定性,并通过理论分析证明闭环控制系统不会出现Zeno现象。最后,仿真结果验证了滑模事件驱动控制律在存在外部扰动和通信受限时四旋翼无人飞行器轨迹跟踪的鲁棒性。
英文摘要
      Quadrotor Unmanned Aerial Vehicles (UAV) as a typical under-actuated system, which has strong coupling, nonlinear and other characteristics. an sliding mode sliding mode event-triggered control method is proposed to deal with the external disturbance and limited communication. Firstly, the dynamic characteristics of the quadrotor UAV is analyzed, then the time-scaling techniques is applied to decouple the system into the position sub-system and the attitude subsystem. Secondly, the position subsystem is transformed into strict feedback form, and a backstepping sliding mode controller is designed to implement the trajectory stability tracking. In order to deal with the case of bounded disturbance and communication restricted, an event-triggered control law based on sliding mode control is designed to achieve the virtual attitude command tracking while suppressing the disturbances. The stability of the proposed controller is proved based on Lyapunov method, and the closed-loop control system does not appear Zeno phenomenon is proofed by theoretical analysis. Finally, simulation results are given to demonstrate the trajectory tracking robustness of the sliding mode event-triggered control law with respect to external disturbances and communication restricted of a quadrotor UAV.