南京航空航天大学学报2024，Vol.56Issue(6)：1082-1089,8.DOI:10.16356/j.1005-2615.2024.06.011
无人直升机部分姿态约束安全飞行控制
Safe Flight Control of Unmanned Helicopters with Partial Attitude Constraints
摘要
Abstract
For the unmanned helicopter system,the full-degree-of-freedom control problem is studied,while ensuring that the attitude constraints are within the specified range.Considering that the characteristics of the system such as strong nonlinearity,strong coupling,under driving,and intermediate control variables need to be guaranteed to be bounded,this paper reduces the strength of the nonlinearity and coupling through the feedback linearization method,and designs the controller to directly control the three positional degrees of freedom and the yaw angle.At the same time,this paper utilizes the obstacle Lyapunov function method to locally constrain the intermediate variables to indirectly control the roll angle and the pitch angle,thus ensuring that the helicopter's attitude is bounded.Combined with the nonlinear system control theory,the tracking error system is guaranteed to be bounded,while the system is analyzed for stability.Finally,the method effectiveness is validated through simulation examples.关键词
全自由度无人直升机/姿态状态约束/反馈线性化/跟踪飞行控制/反步法Key words
full-degree-of-freedom unmanned helicopter/attitude state constrained/feedback linearization/tracking flight control/backstepping分类
航空航天引用本文复制引用
杜佳玮,李天鸿,李艳恺,历东平,弋英民,黄宇龙..无人直升机部分姿态约束安全飞行控制[J].南京航空航天大学学报,2024,56(6):1082-1089,8.基金项目
国家自然科学基金项目(62127809,62103327) （62127809,62103327）
中国博士后科学基金项目(2022T150524) （2022T150524）
陕西省教育厅科研计划项目(23JY053) （23JY053）
陕西省科技厅重点研发计划(2024GX-YBXM-298). （2024GX-YBXM-298）
