四旋翼飞行器有界输出控制
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摘要
为了改善四旋翼飞行器实际起飞时超调过大问题,提出了一种基于障碍Lyapunov函数的有界输出控制方法。该方法采用障碍Lyapunov函数与滑模控制相结合设计控制器,利用障碍Lyapunov函数将传统滑模面约束在一定的范围内,从而来保证四旋翼飞行器输出保持在一定的范围内。仿真和实验结果表明:本方法不仅能使系统的实际输出值y_1跟踪上期望输出值y_(1d),还能够使实际输出值y_1始终保持在预先设定的范围内,即|y_1| In order to improve the overshoot problem of quadrotors on actual takeoff, a bounded output control based on barrier Lyapunov function is proposed. The barrier Lyapunov function is combined with sliding mode control to design the controller, by using the barrier Lyapunov function, the traditional sliding mode surface is constrained within a certain range so as to ensure that the quadrotors′ outputs remain within a certain range. Simulation and experimental results show that the above method not only enables the actual output value of the system y_1 to track the desired output value y_(1 d), but also keeps the actual output value y_1 within the predetermined bounding range,|y_1| < k_c, k_c is positive constant.
引文
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[2]马正华,张倩倩,陈岚萍.四旋翼飞行器自适应反演姿态控制[J].智能系统学报,2015(3):454-459.MA Z H,ZHANG Q Q,CHEN L P.Adaptive inversion attitude control of quadrotors[J].Journal of Intelligent Systems,2015(3):454-459(in Chinese).
[3]窦立谦,芦飞.基于ESO和反步法的四旋翼飞行器轨迹跟踪控制[J].天津大学学报(自然科学与工程技术版),2017,50(5):500-506.DO L Q,LU F.Trajectory tracking control for quadrotors based on ESO and backstepping[J].Journal of Tianjin University(Science and Technology),2015,50(5):500-506(in Chinese).
[4]方旭,刘金琨.四旋翼无人机动态面控制[J].北京航空航天大学学报,2016,42(8):1777-1784.FANG X,LIU J K.Dynamic surface control for quadrotor unmanned air vehicle[J].Journal of Beijing University of Aeronautics and Astronautics,2016,42(8):1777-1784(in Chinese).
[5]王宁,王永,余明裕.四旋翼飞行器自适应动态面轨迹跟踪控制[J].控制理论与应用,2017,34(9):1185-1194.WANG N,WANG Y,YU M Y.Adaptive dynamic surface tracking control for four rotor aircraft[J].Control Theory and Application,2017,34(9):1185-1194(in Chinese).
[6]常绍平,师五喜,郭建川.基于预定性能的四旋翼飞行器姿态控制[J].计算机仿真,2016,34(7):73-78.CHANG S P,SHI W X,GUO J C.Attitude control of quadrotors based on predetermined performance[J].Computer Simulation,2016,34(7):73-78(in Chinese).
[7]林旭梅,王婵.四旋翼飞行器的自适应鲁棒滑模控制器设计[J].仪器仪表学报,2015,36(7):1522-1528.LIN X M,WANG C.The design of adaptive robust sliding mode controller for quadrotors[J].Journal of Instrumentation,2015,36(7):1522-1528(in Chinese).
[8]刘一莎,杨晟萱,王伟.四旋翼飞行器的自抗扰飞行控制方法[J].控制理论与应用,2015,32(10):1351-1360.LIU Y S,YANG S X,WANG W.An active disturbance rejection flight control method for quadrotors[J].Control Theory and Application,2015,32(10):1351-1360(in Chinese).
[9]BRAVO J M,LIMON D,ALAMO T,et al.On the computation of invariant sets for constrained nonlinear systems:Aninterval arithmetic approach[J].Automatica,2005,41(9):1583-1589.
[10]HATANAKA T,TAKABA K.Computations of probabilistic output admissible set for uncertain constrained systems[J].Automatica,2008,44(2):479-487.
[11]LIMON D,ALVARADO I,ALAMO T,et al.MPC for tracking piecewise constant references for constrained linear systems[J].Automatica,2008,44(9):2382-2387.
[12]PRACH A,KAYACAN E.An MPC-based position controller for a tilt-rotor tricopter VTOL UAV[J].Optimal Control Applications&Methods,2018,39(1):343-356.
[13]KOGISO K,HIRATA K.Reference governor for constrained systems with time-varying references[J].Robotics and Autonomous Systems,2009,57(3):289-295.
[14]TEE K P,GE S S,TAY E H.Barrier lyapunov function for the control of output constrained nonlinear systems[J].Automatica,2009,45(4):918-927.
[15]TEE K P,REN B,GE S S.Control of nonlinear systems with time-varying output constraints[J].Automatica,2011,47(11):2511-2516.
[16]赵新龙,章亿凯,潘海鹏,等.输出受限迟滞非线性系统的反步控制器设计[J].控制理论与应用,2016,33(5):608-612.ZHAO X L,ZHANG Y K,PAN H P,et al.Backstepping control of output-constrained nonlinear systems with hysteresis[J].Control Theory and Applications,2016,33(5):608-612(in Chinese).
[17]ZHAO Z,HE W,GE S S.Adaptive neural network control of a fully actuated marine surface vessel with multiple output constraints[J].IEEE Transactions on Control Systems Technology,2014,22(4):1536-1543.
[18]GUO T,WANG D L,WANG A M.Adaptive backstepping control for constrained systems using nonlinear mapping[J].Acta Automatica Sinica,2012,38(8):1-6.
[19]吴春,齐蓉,陈晓雷.基于障碍Lyapunov函数的输出有界全局收敛鲁棒控制[J].控制与决策,2015(3):448-454.WU C,QI R,CHEN X L.Robust control for output-constrained with global convergence using barrier Lyapunov function[J].Control and Decision,2015(3):448-454(in Chinese).
[20]张天平,王宁宁,夏梅珍.具有未建模动态和输出约束系统的自适应输出反馈控制[J].控制与决策,2017,32(1):55-62.ZHANG T P,WANG N N,XIA M Z.Adaptive output feedback control of systems with unmodeled dynamics and output constraint[J].Control and Decision,2017,32(1):55-62(in Chinese).