天津工业大学学报2019，Vol.38Issue(1)：69-75,7.DOI:10.3969/j.issn.1671-024x.2019.01.013
四旋翼飞行器有界输出控制
Bounded output control for quadrotors
摘要
Abstract
In order to improve the overshoot problem of quadrotors on actual takeoff, a bounded output control based on barrier Lyapunov function is proposed. The barrier Lyapunov function is combined with sliding mode control to design the controller, by using the barrier Lyapunov function, the traditional sliding mode surface is constrained within a certain range so as to ensure that the quadrotors' outputs remain within a certain range. Simulation and experimental results show that the above method not only enables the actual output value of the system y1 to track the desired output value y (1 d) , but also keeps the actual output value y1 within the predetermined bounding range, |y1| < kc, kc is positive constant.关键词
四旋翼飞行器/有界输出/障碍Lyapunov函数/滑模控制Key words
quadrotors/bounded output/barrier Lyapunov function/sliding mode control分类
航空航天引用本文复制引用
师五喜,李康利..四旋翼飞行器有界输出控制[J].天津工业大学学报,2019,38(1):69-75,7.基金项目
天津市自然科学基金资助项目(15JCYBJC47800) （15JCYBJC47800）
