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基于模糊不确定观测器的四旋翼飞行器自适应动态面轨迹跟踪控制

王宁 王永

王宁, 王永. 基于模糊不确定观测器的四旋翼飞行器自适应动态面轨迹跟踪控制. 自动化学报, 2018, 44(4): 685-695. doi: 10.16383/j.aas.2017.c160481
引用本文: 王宁, 王永. 基于模糊不确定观测器的四旋翼飞行器自适应动态面轨迹跟踪控制. 自动化学报, 2018, 44(4): 685-695. doi: 10.16383/j.aas.2017.c160481
WANG Ning, WANG Yong. Fuzzy Uncertainty Observer Based Adaptive Dynamic Surface Control for Trajectory Tracking of a Quadrotor. ACTA AUTOMATICA SINICA, 2018, 44(4): 685-695. doi: 10.16383/j.aas.2017.c160481
Citation: WANG Ning, WANG Yong. Fuzzy Uncertainty Observer Based Adaptive Dynamic Surface Control for Trajectory Tracking of a Quadrotor. ACTA AUTOMATICA SINICA, 2018, 44(4): 685-695. doi: 10.16383/j.aas.2017.c160481

基于模糊不确定观测器的四旋翼飞行器自适应动态面轨迹跟踪控制

doi: 10.16383/j.aas.2017.c160481
基金项目: 

中央高校科研基本业务费专项资金项目 3132016314

大连市杰出青年科技人才支持计划 2016RJ10

大连市高层次人才创新支持计划 2015R065

国家自然科学基金 51379002

国家自然科学基金 51009017

详细信息
    作者简介:

    王永, 大连海事大学船舶电气工程学院硕士研究生.主要研究方向为自主飞行器控制.E-mail:15241192269@163.com

    通讯作者:

    王宁, 大连海事大学船舶电气工程学院教授.主要研究方向为自主系统与控制, 智能建模与控制, 自主制导与控制.本文通信作者.E-mail:n.wang.dmu.cn@gmail.com

Fuzzy Uncertainty Observer Based Adaptive Dynamic Surface Control for Trajectory Tracking of a Quadrotor

Funds: 

Fundamental Research Funds for the Central Universities 3132016314

Fund for Dalian Distinguished Young Scholars 2016RJ10

Innovation Support Plan for Dalian Highlevel Talents 2015R065

Supported by National Natural Science Foundation of China 51379002

Supported by National Natural Science Foundation of China 51009017

More Information
    Author Bio:

    Master student at the School of Marine Electrical Engineering, Dalian Maritime University. His research interest covers control of autonomous aerial vehicles

    Corresponding author: WANG Ning Professor at the School of Marine Electrical Engineering, Dalian Maritime University. His research interest covers autonomous systems and control, intelligent modeling and control, and autonomous guidance and control. Corresponding author of this paper
  • 摘要: 针对具有未知外界扰动和系统不确定性的四旋翼飞行器,提出了一种基于模糊不确定观测器(Fuzzy uncertainty observer,FUO)的自适应动态面轨迹跟踪控制方法.通过将四旋翼飞行器系统分解为位置、姿态角和角速率三个动态子系统,使得各子系统虚拟控制器能够充分考虑欠驱动约束;采用一阶低通滤波器重构虚拟控制信号及其一阶导数,实现四旋翼跟踪控制设计的迭代解耦;设计了一种模糊不确定观测器,用以估计和补偿未知外界扰动与系统不确定性,从而确保闭环系统的稳定性和跟踪误差与其他系统信号的一致有界性.仿真研究验证了所提出的控制方法的有效性和优越性.
    1)  本文责任编委 孙富春
  • 图  1  四旋翼飞行器结构图

    Fig.  1  The configuration of a quadrotor

    图  2  空间轨迹跟踪

    Fig.  2  Trajectory tracking

    图  3  $x$, $y$, $z$和$\psi$给定和实际状态

    Fig.  3  Desired and actual states $x$, $y$, $z$ and $\psi$

    图  4  跟踪误差

    Fig.  4  The tracking errors

    图  5  控制输入

    Fig.  5  Control inputs

    图  6  横滚角$\phi$和俯仰角$\theta$

    Fig.  6  Roll and pitch angles, i.e., $\phi$ and $\theta$

    图  7  角速率$p, q$$r$

    Fig.  7  Angular velocities $p$$,q$ and $r$

    图  8  未知非线性

    Fig.  8  Unknown nonlinearities

    表  1  四旋翼飞行器主要参数

    Table  1  The main parameters of the quadrotor

    m 1.2 kg
    Jx 0.015 kg·m2
    Jy 0.015 kg·m2
    Jz 0.026 kg·m2
    Dx 10-6 N(m/s)-2
    Dy 10-6 N(m/s)-2
    Dz 10-4 N(m/s)-2
    g 9.81 m/s2
    下载: 导出CSV
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出版历程
  • 收稿日期:  2016-06-20
  • 录用日期:  2017-05-06
  • 刊出日期:  2018-04-20

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