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基于反步设计方法和有限时间控制技术,文章设计了四旋翼飞行器的控制系统,以实现定点悬停控制.首先,针对四旋翼飞行器位置控制系统,将姿态当成虚拟控制输入信号,设计了基于PD的位置控制器.然后,针对姿态控制系统,基于有限时间控制技术,设计姿态控制力矩使得飞行器姿态可以在有限时间内达到期望的姿态.最后,仿真结果验证了文章所提出控制器的有效性.
Based on the backstepping design method and the finite time control technology, the article designs the control system of quadrotor to realize the control of fixed-point hovering.Firstly, for the position control system of quadrotor, the attitude is regarded as the virtual control input signal, The attitude control system is designed based on the finite time control technology to make the attitude of the aircraft reach the desired attitude within a limited time.Finally, the simulation results verify the effectiveness of the proposed controller.