针对小型固定翼无人机的强大的自适应三维轨迹跟踪控制方案设计
Wenlong Yang1, Zongying Shi1, Yisheng Zhong1
1Department of Automation, Tsinghua University, Beijing 100089, China.
ISA transactions
|July 15, 2023
概括
本研究提出了一种新的,强大的适应性控制策略,用于小型固定翼无人机,以实现精确的3D轨迹跟踪,尽管存在非线性和风力干扰. 该方法确保了准确的导航,而不需要精确的动态模型.
科学领域:
- 航空航天工程 航空航天工程
- 控制系统 控制系统
- 机器人技术 机器人技术 机器人技术
背景情况:
- 小型固定翼无人机 (UAV) 在3D轨迹跟踪方面面临挑战,原因是模型的不确定性,非线性和外部干扰,如风.
- 现有的控制策略往往是不可行的,因为这些无人机无法获得精确的动态模型和参数.
- 准确的轨迹跟踪对于无人机在给定的时间框架内到达特定位置至关重要,用于各种应用.
研究的目的:
- 开发一个强大的适应性控制战略,用于小型固定翼无人机的3D轨迹跟踪.
- 在不需要精确的空气动力学模型的情况下,解决非线性,不确定性和风力干扰所带来的挑战.
- 确保无人机在给定的时间框架内高效准确地到达指定位置.
主要方法:
- 利用反线性化技术,推导出具有等效干扰的线性模型,绕过了精确空气动力学力模型的需求.
- 设计了一种新的,强大的自适应控制策略,用于位置控制,处理取决于输入的干扰极限.
- 整合了两种时间尺度分离方法,包括一个位置控制器 (水平平面和高度) 和一个强大的基于过器的态度调节器.
主要成果:
- 开发了一种实用而强大的自适应位置控制器,可以防止聊天问题,确保最终限制跟踪错误.
- 控制方案有效地管理3D轨迹跟踪中的非线性,不确定性和风力干扰.
- 闭环系统的理论稳定性经过严格的研究,使用利亚普诺夫论证.
结论:
- 拟议的强大的自适应控制策略在具有挑战性的条件下对小型固定翼无人机的3D轨迹跟踪有效.
- 该方法证明了稳健性,并且实现了精确的导航,而不依赖于精确的系统动态模型.
- 硬件循环模拟验证了开发的控制方案的性能和稳定性.
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