控制理论与应用2017，Vol.34Issue(2)：168-178,11.DOI:10.7641/CTA.2017.60559
基于区间矩阵的四旋翼无人机鲁棒跟踪控制
Robust tracking control of a quad-rotor unmanned aerial vehicle via interval matrix
摘要
Abstract
The robust tracking control strategies for a quad-rotor unmanned aerial vehicle (UAV) with changing flight environment are put forward based on the interval matrix.Firstly,the nonlinear dynamic model of the quad-rotor UAV is decoupled into the inner loop attitude control system and the outer loop position control system.Next,taking into account the change of the lift coefficient and non-negligible drag coefficient in medium and high speed which is caused by the changing flight environment,the interval matrix is introduced to describe the system parameters of the inter and outer loop system and the robust H-infinity feedback control methods are designed to reject the bounded disturbance in the closed inner-outer loop system.Then,according to Lyapunov stability theory,the LMI-based sufficient conditions of exponential asymptotic stability for outer-loop control system and robust asymptotic stability for inter-loop control system are derived.At the same time,the H-infinity performance indexes are both satisfied.Meanwhile,the gain matrices of controller are presented.Finally,the effectiveness,advantages and robustness of the proposed method are verified by simulation and experimental results.关键词
四旋翼无人机/轨迹跟踪/不确定性/区间矩阵/鲁棒控制Key words
quad-rotor UAV/trajectory tracking/uncertainties/interval matrix/robust control分类
信息技术与安全科学引用本文复制引用
孙妙平,刘静静,年晓红,王海波..基于区间矩阵的四旋翼无人机鲁棒跟踪控制[J].控制理论与应用,2017,34(2):168-178,11.基金项目
国家自然科学基金项目(61403425,61473314,61321003)资助.Supported by National Natural Science Foundation of China (61403425,61473314,61321003). （61403425,61473314,61321003）
