四旋翼无人飞行器的轨迹跟踪与滑模事件驱动控制
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摘要
四旋翼飞行器作为一个典型的欠驱动的系统,具有强耦合、非线性等特性.针对飞行器外部干扰、和通信资源受限条件下的轨迹跟踪控制问题,进行滑模事件驱动控制方法的研究.首先,分析动力学特性,通过时间尺度分解方法将系统解耦成位置子系统和姿态子系统.其次,将位置子系统转化为严格反馈形式,设计反步滑模控制器,实现位置轨迹稳定跟踪;针对姿态子系统存在时变有界扰动及通信受限,设计滑模事件驱动控制律,在抑制干扰的同时实现对虚拟姿态跟踪指令的跟踪.根据Lyapunov分析方法证明了所设计控制器的稳定性,并通过理论分析证明闭环控制系统不会出现Zeno现象.最后,仿真结果验证了滑模事件驱动控制律在存在外部扰动和通信受限时四旋翼无人飞行器轨迹跟踪的鲁棒性.
Quadrotor unmanned aerial vehicles(UAV)as a typical under-actuated system,which has strong coupling,nonlinear and other characteristics,an sliding mode sliding mode event-triggered control method is proposed to deal with the external disturbance and limited communication.Firstly,the dynamic characteristics of the quadrotor UAV is analyzed,then the time-scaling techniques is applied to decouple the system into the position sub-system and the attitude subsystem.Secondly,the position subsystem is transformed into strict feedback form,and a backstepping sliding mode controller is designed to implement the trajectory stability tracking.In order to deal with the case of bounded disturbance and communication restricted,an event-triggered control law based on sliding mode control is designed to achieve the virtual attitude command tracking while suppressing the disturbances.The stability of the proposed controller is proved based on Lyapunov method,and the closed-loop control system does not appear Zeno phenomenon is proofed by theoretical analysis.Finally,simulation results are given to demonstrate the trajectory tracking robustness of the sliding mode event-triggered control law with respect to external disturbances and communication restricted of a quadrotor UAV.
Quadrotor unmanned aerial vehicles(UAV)as a typical under-actuated system,which has strong coupling,nonlinear and other characteristics,an sliding mode sliding mode event-triggered control method is proposed to deal with the external disturbance and limited communication.Firstly,the dynamic characteristics of the quadrotor UAV is analyzed,then the time-scaling techniques is applied to decouple the system into the position sub-system and the attitude subsystem.Secondly,the position subsystem is transformed into strict feedback form,and a backstepping sliding mode controller is designed to implement the trajectory stability tracking.In order to deal with the case of bounded disturbance and communication restricted,an event-triggered control law based on sliding mode control is designed to achieve the virtual attitude command tracking while suppressing the disturbances.The stability of the proposed controller is proved based on Lyapunov method,and the closed-loop control system does not appear Zeno phenomenon is proofed by theoretical analysis.Finally,simulation results are given to demonstrate the trajectory tracking robustness of the sliding mode event-triggered control law with respect to external disturbances and communication restricted of a quadrotor UAV.
引文
[1]WU Chen,SU Jianbo.Trajectory tracking of quadrotor based on disturbance rejection control.Control Theory&Applications,2016,33(11):1422-1430.(吴琛,苏剑波.四旋翼飞行器的轨迹跟踪抗干扰控制.控制理论与应用,2016,33(11):1422-1430.)
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[7]TAYEBI A,MCGILVRAY S.Attitude stabilization of a VTOL quadrotor aircraft.IEEE Transactions on Control Systems Technology,2006,14(3):562-571.
[8]MIAN A A,DAOBO W.Modeling and backstepping-based nonlinear control strategy for a 6-DOF quadrotor helicopter.Chinese Journal of Aeronautics,2008,21(3):26 1-268.
[9]MICHINI B,HOW J.Adaptive control for indoor autonomous vehicles:Design process and fight testing.AIAA Guidance,Navigation,and Control Conference.Chicago,Illinois:AIAA,2009:1-15.
[10]DIERKS T,JAGANNATHAN S.Neural network control of quadrotor UAV formations.American Control Conference.St.Louis,MO,USA:IEEE,2009:2990-2996.
[11]COZA C,NICOL C,MACNAB C J B.Adaptive fuzzy control for a quadrotor helicopter robust to wind buffeting.Journal of Intelligent and Fuzzy Systems,20 1 1,22(5):267-283.
[12]HYEONGCHEOL L.Robust adaptive fuzzy control by backstepping for a class of MIMO nonlinear systems.IEEE Transations on Fuzzy Systems,2011,19(2):265-275.
[13]MADANI T,BENALLEGUE A.Back-stepping sliding mode control applied to a miniature quadrotor flying robot.ECON 2006—the 32nd Annual Conference on IEEE Industrial Electronics.Paris,France:IEEE,2006:700-705.
[14]LUQUE-VEGA L,CASTILLO-TOLEDO B,LOUKIANOV A G,et al.Robust block second order sliding mode control for a quadrotor Journal of the Franklin Institute,20 1 2,349(2):7 19-739.
[15]LI T,ZHANG Y M,GORDON B W.Passive and active nonlinear fault-tolerant control of a quadrotor TAV based on sliding mode control technique.Proceedings of the Institution of Mechanical En gineers Part I:Journal of Systems&Control Engineering,2012,227(1):12-23.
[16]CHEN F,ZHANG K,WANG Z,et al.Traj ectory tracking of a quadrotor with unknown p arameters and its fault tolerant control via sliding mode fault observer.Proceedings of the Institu tion of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2015,229(4):279-292.
[17]ZUO Z Y,WANG C L.Adaptive trajectory tracking control of output constrained multi-rotors systems.IET Control Theory and Applications.2014,8(13):1163-1174.
[18]WEI Qingtong,CHEN Mou,WU Qingxian.Backstepping-based attitude control for a quadrotor UAV with input saturation and attitude constraints.Control Theory&Applications,2015,32(10):1361-1369.(魏青铜,陈谋,吴庆宪.输入饱和与姿态受限的四旋翼无人机反步姿态控制.控制理论与应用,2015,32(10):1361-1369.)
[19]HAO Wei,XIAN Bin.Nonlinear fault tolerant control design for quadrotor unmanned aerial vehicle attitude system.Control Theory&Applications,2015,32(1 1):1 1457-1463.(郝伟,鲜斌.四旋翼无人机姿态系统的非线性容错控制设计.控制理论与应用,2015,32(11):1457-1463.)
[20]BEHERA A K,BANDYOPADHYAY B.Event based robust stabilization of linear systems.Conference of the IEEE Industrial Electronics Society.Dallas,TX,USA:IEEE,2015:133-138.
[21]LIU Jinkun.Sliding Mode Control Design and MATLAB Simulation.The 3rd Edition.Beijing:Tsinghua university press,2015.(刘金琨.滑模变结构控制MATLAB仿真.第3版.北京:清华大学出版社,2015.)
[2]WANG Lu,LI Guangchun,WANG Zhaolong,et al.Sliding mode control of an underactuated quadrotor UAV.Journal of Harbin Engineering University,20 12,33(10):1248-1253.(王璐,李光春,王兆龙,等.欠驱动四旋翼无人飞行器的滑模控制.哈尔滨工程大学学报,2012,33(10):1248-1253.)
[3]LEE D B,NATARAJ C,BURG T C,et al.Adaptive tracking of VTOL-UAVs without Linear velocity measurements.American Control Conference.San Francisco,CA,USA:IEEE,2011:2326-2331.
[4]POUNDS P,BERSAK D R,DOLLAR A M.Stability of small-scale UAV helicopters and quadrotors with added payload mass under PID control.Autonomous Robots,20 12,33(1/2):129-142.
[5]GONG X,HOU Z C,ZHAO C J,et al.Adaptive backstepping sliding mode trajectory tracking control for a quad-rotor.International Journal of Automation and Computing,20 12,9(5):555-560.
[6]RAFFO G V,ORTEGA M G,RUBIO F R.An integral predicitve\nonlinear H_∞control structure for a quadrotor helicopter.Automatica,2010,46(1):29-39.
[7]TAYEBI A,MCGILVRAY S.Attitude stabilization of a VTOL quadrotor aircraft.IEEE Transactions on Control Systems Technology,2006,14(3):562-571.
[8]MIAN A A,DAOBO W.Modeling and backstepping-based nonlinear control strategy for a 6-DOF quadrotor helicopter.Chinese Journal of Aeronautics,2008,21(3):26 1-268.
[9]MICHINI B,HOW J.Adaptive control for indoor autonomous vehicles:Design process and fight testing.AIAA Guidance,Navigation,and Control Conference.Chicago,Illinois:AIAA,2009:1-15.
[10]DIERKS T,JAGANNATHAN S.Neural network control of quadrotor UAV formations.American Control Conference.St.Louis,MO,USA:IEEE,2009:2990-2996.
[11]COZA C,NICOL C,MACNAB C J B.Adaptive fuzzy control for a quadrotor helicopter robust to wind buffeting.Journal of Intelligent and Fuzzy Systems,20 1 1,22(5):267-283.
[12]HYEONGCHEOL L.Robust adaptive fuzzy control by backstepping for a class of MIMO nonlinear systems.IEEE Transations on Fuzzy Systems,2011,19(2):265-275.
[13]MADANI T,BENALLEGUE A.Back-stepping sliding mode control applied to a miniature quadrotor flying robot.ECON 2006—the 32nd Annual Conference on IEEE Industrial Electronics.Paris,France:IEEE,2006:700-705.
[14]LUQUE-VEGA L,CASTILLO-TOLEDO B,LOUKIANOV A G,et al.Robust block second order sliding mode control for a quadrotor Journal of the Franklin Institute,20 1 2,349(2):7 19-739.
[15]LI T,ZHANG Y M,GORDON B W.Passive and active nonlinear fault-tolerant control of a quadrotor TAV based on sliding mode control technique.Proceedings of the Institution of Mechanical En gineers Part I:Journal of Systems&Control Engineering,2012,227(1):12-23.
[16]CHEN F,ZHANG K,WANG Z,et al.Traj ectory tracking of a quadrotor with unknown p arameters and its fault tolerant control via sliding mode fault observer.Proceedings of the Institu tion of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2015,229(4):279-292.
[17]ZUO Z Y,WANG C L.Adaptive trajectory tracking control of output constrained multi-rotors systems.IET Control Theory and Applications.2014,8(13):1163-1174.
[18]WEI Qingtong,CHEN Mou,WU Qingxian.Backstepping-based attitude control for a quadrotor UAV with input saturation and attitude constraints.Control Theory&Applications,2015,32(10):1361-1369.(魏青铜,陈谋,吴庆宪.输入饱和与姿态受限的四旋翼无人机反步姿态控制.控制理论与应用,2015,32(10):1361-1369.)
[19]HAO Wei,XIAN Bin.Nonlinear fault tolerant control design for quadrotor unmanned aerial vehicle attitude system.Control Theory&Applications,2015,32(1 1):1 1457-1463.(郝伟,鲜斌.四旋翼无人机姿态系统的非线性容错控制设计.控制理论与应用,2015,32(11):1457-1463.)
[20]BEHERA A K,BANDYOPADHYAY B.Event based robust stabilization of linear systems.Conference of the IEEE Industrial Electronics Society.Dallas,TX,USA:IEEE,2015:133-138.
[21]LIU Jinkun.Sliding Mode Control Design and MATLAB Simulation.The 3rd Edition.Beijing:Tsinghua university press,2015.(刘金琨.滑模变结构控制MATLAB仿真.第3版.北京:清华大学出版社,2015.)