具有时变扰动的四旋翼无人机有限时间预定性能控制
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作者单位:

燕山大学

作者简介:

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中图分类号:

tp273

基金项目:

国家自然科学基金项目(面上项目,重点项目,重大项目)


Finite Time Prescribed Performance Control of Quadrotor UAVs with Time Varying Disturbances
Author:
Affiliation:

Yanshan University

Fund Project:

The National Natural Science Foundation of China (General Program, Key Program, Major Research Plan)

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    摘要:

    针对外界扰动、模型不确定性以及输出误差约束情况下的四旋翼无人机轨迹跟踪问题,提出了有限时间预定性能控制策略。首先,将无人机动力学模型解耦为姿态子系统和位置子系统;其次,引入误差转换函数和性能约束函数,通过合理设计快速终端滑模面,实现转换误差有限时间收敛,从而实现原系统输出误差约束的控制;进一步,通过稳定性分析可以得出所设计的控制器能够保证系统有限时间稳定,并且具有良好的暂稳态性能;最后,通过实例仿真验证了所设计方法的有效性。

    Abstract:

    This paper investigates the finite time prescribed performance control problem for the trajectory tracking problem of quadrotor UAVs with time-vary disturbance, model uncertainty and constrain of the output error. Firstly, the UAVs dynamic model is decoupled into attitude subsystem and position subsystem. Secondly, by introducing the error conversion function and performance constraint function, the finite time convergence of the conversion error is realized through the reasonable design of the fast terminal sliding surface, so as to realize the control of the output error constraint of the original system. Furthermore, the stability analysis shows that the designed controller can guarantee the finite time stability of the system, and make the system have good transient stability performance. Finally, a simulation example shows the effectiveness of the proposed methods.

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历史
  • 收稿日期:2021-05-06
  • 最后修改日期:2021-08-28
  • 录用日期:2021-09-10
  • 在线发布日期: 2021-09-17
  • 出版日期: