摘要
针对无人直升机干扰下的鲁棒轨迹跟踪问题,设计了一种自适应反步控制方法.鉴于作用在直升机上的干扰是产生跟踪误差的主要原因,该方法的主要思想是寻求一种方法来补偿这种干扰.首先,将未建模动态如外部阵风干扰、配平误差、机身、垂尾、平尾以及其他可忽略的动态产生的力和力矩看成一种组合干扰,从而建立了一个方便反步法控制器设计的简化模型.当设计好反步法控制器后,设计了一个非线性自适应律来估计这种组合干扰,并通过将干扰估计值整合到反步控制器中,使得闭环跟踪系统的鲁棒稳定性得到了保证,即基于李雅普诺夫稳定性理论证明了所设的控制器对于干扰主动阻隔,特别是低频干扰的主动阻隔是有效的.最后,两个仿真研究验证了该方法是优于常规反步法和积分反步法的.
This paper presents an adaptive backstepping control method to deal with the problem of robust trajectory tracking for unmanned helicopters with disturbances.The originality of this work relies on the way to compensate the disturbances acting on the helicopter to cause the path deviation.A simplified model is built to facilitate the backstepping controller design;while the unmodelled dynamics is treated as the external wind gusts,mismatched trim values,forces and moments generated by fuselage,fins and other neglected dynamic uncertainties.After designing the backstepping controller,a nonlinear adaptive control law is developed for estimating the disturbance.The estimation results are integrated with the backstepping controller to ensure the robust stability of the closed-loop tracking system.By using the Lyapunov theory,we prove that the designed controller is effective for disturbance rejection,especially for the low frequency disturbances.Two simulations show that the proposed controller outperforms either the conventional backstepping controller or the integral backstepping controller.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2013年第7期834-843,共10页
Control Theory & Applications
基金
supported by the National Natural Science Foundation of China(Nos.60736024,61174053)
the Cultivation Fund of the Key Scientific and Technical Innovation Project,Ministry of Education of China(No.708069)
关键词
自适应反步法
鲁棒控制
轨迹跟踪
无人直升机
干扰估计
adaptive backstepping
robust control
trajectory tracking
unmanned helicopter
disturbance estimation
