摘要
针对四旋翼无人机的姿态控制问题,设计了一种基于块控反步法的姿态控制器。建立了四旋翼无人机完整的姿态运动模型,包括姿态动力学模型和空气动力学模型,并将其转化为多输入多输出非线性系统的状态空间方程。在介绍块控反步控制器的基础上,给出了积分反步姿态控制器的设计过程。将滤波器引入控制器设计中,解决了对虚拟控制律求导所产生的"计算膨胀"问题。对控制系统的Lyapunov稳定性分析表明,所设计的控制系统是稳定且指数收敛的。仿真结果表明所设计的控制器具有良好的跟踪能力和较强的鲁棒性。
An attitude controller using block backstepping was designed for attitude control of quadrotor UAV. A whole attitude motion model was established, including attitude dynamic model and aerodynamic model, which was then translated into standard state space equations of MIMO nonlinear systems. After introducing the block backstepping controller, the integral backstepping attitude controller was proposed. The filters were introduced into the process of controller design, which were used to overcome the ＂calculation explosion＂ problem caused by differentiations of the virtual control law. The analysis of Lyapunov stability proved that the designed control system is stable and can converge exponentially. The simulation results of a quadrotor UAV demonstrate the good tracking performance and robustness of the designed controller.
出处
《电光与控制》
北大核心
2013年第10期87-91,101,共6页
Electronics Optics & Control
关键词
四旋翼无人机
姿态控制
块控反步法
积分反步控制
Quadrotor UAV
attitude control
block backstepping
integral-backstepping control
