摘要
由于四旋翼无人机的飞行环境及自身执行机构等原因限制,为了保证姿态始终在约束范围内变化,引入障碍Lyapunov函数(BLF)保证系统能够达到预设性能。提出了一种基于补偿函数观测器(CFO)的反步姿态受限控制(CFO-BLF)方案。通过Simulink仿真对比了CFO-BLF反步控制、ESO-BLF反步控制和PID控制下四旋翼无人机的姿态跟踪性能,验证了本文CFO-BLF控制方法的有效性及优越性。
Due to the limitation of the flight environment of the quadrotor UAV and its own actuator,its attitude is often subject to various constraints.To ensure that the attitude always changes within the constraint range,the barrier Lyapunov function(BLF) was introduced to ensure that the attitude always varies within the constraint range to ensure that the system can achieve the preset performance.A compensation function observer based BLF attitude constrained backstepping control(CFO-BLF) scheme was proposed.Simulink simulation compares the CFO-BLF backstepping control,ESO-BLF backstepping control and PID control algorithms by testing the attitude tracking performance of the quadrotor UAV to verify the effectiveness and superiority of CFO-BLF.
作者
齐国元
李阔
王琨
QI Guo-yuan;LI Kuo;WANG Kun(Tianjin Key Laboratory of Intelligent Control of Electrical Equipment,Tiangong University,Tianjin 300387,China)
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2023年第3期853-862,共10页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金项目(61873186)。
关键词
控制理论与控制工程
扩张观测器
补偿函数观测器
障碍Lyapunov函数
反步控制
control theory and control engineering
extend state observer(ESO)
compensation function observer(CFO)
barrier Lyapunov function
backstepping control
