论文部分内容阅读
四旋翼飞行器是一类典型的欠驱动系统,姿态控制为飞行控制的核心。文章首先建立了完整的姿态运动非线性模型,针对四旋翼飞行器姿态受到内部参数摄动和外界干扰等不确定影响,设计了一种鲁棒自适应控制器,旨在提高飞行器的姿态鲁棒性和准确性。同时对于高度和位置子系统中的外界干扰的影响,通过构造的鲁棒自适应函数抵消其不良影响。采用Lyapunov函数方法证明了系统的稳定性和跟踪轨迹的毕竟有界性。最后通过仿真证明了所提控制器良好的控制效果。
Quadrotorcraft is a typical type of under-driven system, and attitude control is the core of flight control. In this paper, a complete non-linear model of attitude movement is established firstly. Aiming at the uncertainty of quad-rotor attitude influenced by internal parameters perturbation and external disturbance, a robust adaptive controller is designed to improve the attitude robustness of the aircraft And accuracy. At the same time, the influence of external disturbances in height and position subsystem is counteracted by the constructed robust adaptive function. The Lyapunov function method is used to prove the stability of the system and the boundedness of the tracking trajectory. At last, the simulation results show that the proposed controller has a good control effect.