工程科学学报2016，Vol.38Issue(12)：1784-1790,7.DOI:10.13374/j.issn2095-9389.2016.12.018
无人软翼飞行器直线航迹跟踪鲁棒反步控制
Robust backstepping control for straight-line trajectory tracking of unmanned parafoil vehicles
摘要
Abstract
In order to implement straight-line trajectory tracking control for unmanned parafoil vehicles (UPV),a variable-gain robust backstepping control method was proposed based on a simulation object.A variable-gain backstepping tracking controller was designed against the trajecto~ tracking error model,and proper design of gain parameters eliminated a part of complicated nonlinear terms and avoided higher derivatives in traditional backstepping methods so as to make the controller simpler and to be beneficial to engineering realization.The robust feedback compensation term designed according to the Lyapunov theory improved the system's robustness while ensuring its stability.In addition,the controller was applied to UPV planar straight-line trajectory tracking control.The simulation experiment illustrates the good robustness of the proposed controller and the accurate tracking ability in straight-line trajectories.关键词
无人飞行器/航迹/跟踪/鲁棒控制/反步Key words
unmanned vehicles/trajectories/tracking/robust control/backstepping分类
信息技术与安全科学引用本文复制引用
张昊,陈自力,蔚建斌,苏立军..无人软翼飞行器直线航迹跟踪鲁棒反步控制[J].工程科学学报,2016,38(12):1784-1790,7.基金项目
国家自然科学基金资助项目(51175508) （51175508）
总装院校科技创新工程资助项目(12080007) （12080007）
