摘要
针对带有模型参数不确定和风微扰状况的四旋翼飞行器轨迹跟踪问题,提出了一种全局动态鲁棒性控制策略.基于牛顿-欧拉形式化方法解耦得到飞行器直线运动部分和旋转姿态控制部分.设计了模型预测控制器来实现直线运动部分的动态实时控制.并在模型参数不确定和风微扰情况下,为了稳定四旋翼飞行器的旋转姿态行为和直线运动,引入全局鲁棒滑模控制方法.仿真结果表明,设计的全局动态鲁棒控制策略具有实时快速稳定的跟踪效果.
To solve the trajectory tracking problem for a quadrotor helicopter in the presence of model parametric uncertainties and wind perturbations, a global dynamic robust control strategy is proposed in this paper. Both the translational control and the rotational attitude control after decoupling were obtained by the Newton-Euler formalism. To stabilize the rotational attitude and translational movements, a model predictive controller （MPC） was designed, with a sliding mode controller （SMC） running parallel, to realize the reference trajectory tracking. Simulation results are presented to corroborate the real-time, effectiveness, and stability of the proposed strategy.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2013年第5期505-509,共5页
Transactions of Beijing Institute of Technology
关键词
四旋翼飞行器
轨迹跟踪
预测控制
滑模控制
quadrotor
trajectory tracking
model predictive controller （MPC）
slide mode eontroller（SMC）
