聊城大学学报（自然科学版）2026，Vol.39Issue(3)：317-327,373,12.DOI:10.19728/j.issn1672-6634.2025120005
无人直升机的预定义时间跟踪控制:一种基于时变增益扰动观测器的方法
Predefined-time tracking control of unmanned helicopter:a time-varying gain disturbance observer-based approach
摘要
Abstract
This paper proposes a predefined-time tracking control scheme to address the trajectory tracking problem of unmanned helicopters subject to time-varying disturbances.To overcome the dependence of finite-time control on initial states and the conservatism of fixed-time control in estimating the convergence time upper bound,the predefined-time theory is introduced.This approach enables the precise presetting of the system convergence time using a single control parameter,eliminating the need for complex parame-ter tuning.First,a nonlinear dynamic model of the unmanned helicopter is established,and a time-varying gain disturbance observer is designed to estimate unknown time-varying disturbances.Second,utilizing a disturbance compensation mechanism,a sliding mode-based predefined-time controller is developed to en-sure that the helicopter's attitude and altitude strictly converge to the desired trajectory within a preset time window,independent of the initial system states.Rigorous analysis based on Lyapunov stability theo-ry verifies the predefined-time convergence characteristics of the closed-loop system.Finally,comparative simulation experiments demonstrate that the proposed strategy offers superior performance over existing methods in terms of convergence time controllability,tracking error suppression,and steady-state robust-ness.关键词
无人直升机/扰动观测器/预定义时间控制/滑模控制/跟踪控制Key words
unmanned helicopter/disturbance observer/predefined-time control/sliding mode control/tracking control分类
航空航天引用本文复制引用
郝传敏,曹腾,郭宝弟,王玉洁,杨少华..无人直升机的预定义时间跟踪控制:一种基于时变增益扰动观测器的方法[J].聊城大学学报（自然科学版）,2026,39(3):317-327,373,12.基金项目
国家自然科学基金项目(62303264) （62303264）
山东省自然科学基金项目(ZR2022QF021)资助 （ZR2022QF021）
