控制理论与应用2017，Vol.34Issue(9)：1185-1194,10.DOI:10.7641/CTA.2017.60867
四旋翼飞行器自适应动态面轨迹跟踪控制
Adaptive dynamic surface trajectory tracking control of a quadrotor unmanned aerial vehicle
摘要
Abstract
In this paper, an adaptive dynamic surface trajectory tracking control scheme using adaptive uncertainty compensator is proposed for a quadrotor unmanned aerial vehicle(QUAV)with unknown external disturbances and system uncertainties. By dividing the quadrotor system into three subsystems, i.e., dynamics of positions, attitude angles and angular velocities,virtual controller design for subsystems can tackle underactuated constraints well. The derivatives of the virtual control signals are avoided by employing some first-order filters which are required successively in the dynamic surface control. Adaptive uncertainty compensators for unknown nonlinearities including unknown external disturbances and uncertainties contribute to the closed-loop system stability,uniformly ultimately bounded tracking errors and bounded states. Simulation studies and experiment results demonstrate the effectiveness and superiority of the proposed trajectory tracking control scheme.关键词
四旋翼飞行器/轨迹跟踪/自适应动态面控制/自适应不确定性估计Key words
quadrotor unmanned aerial vehicle/tracking control/adaptive dynamic surface control/adaptive uncertainty estimate分类
信息技术与安全科学引用本文复制引用
王宁,王永,余明裕..四旋翼飞行器自适应动态面轨迹跟踪控制[J].控制理论与应用,2017,34(9):1185-1194,10.基金项目
国家自然科学基金项目(51009017,51379002),交通运输部应用基础研究基金项目(2012-329-225-060),中国博士后科学基金项目(2012M520629),大连市杰出青年科技人才基金项目(2016RJ10),大连市支持高层次人才创新计划项目(2015R065),中央高校基本研究基金项目(3132016314)资助.Supported by National Natural Science Foundation of China(51009017,51379002),Applied Basic Research Funds from Ministry of Transport of China(2012-329-225-060),China Postdoctoral Science Foundation(2012M520629),Fund for Dalian Distinguished Young Scholars(2016RJ10),Innovation Support Plan for Dalian High-Level Talents(2015R065)and Fundamental Research Funds for Central Universities(3132016314). （51009017,51379002）
