输入受限四旋翼飞行器的模糊自适应动态面轨迹跟踪控制
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摘要
针对输入受限条件下四旋翼飞行器的轨迹跟踪控制问题,考虑系统存在模型动态不确定和未知外界干扰的情况,提出一种模糊自适应动态面轨迹跟踪控制方法.该方法设计干扰观测器估计位置模型中复合扰动项,利用模糊系统逼近姿态模型中不确定项和外界干扰,并引入双曲正切函数和辅助系统处理输入受限问题,结合反演法和动态面技术设计轨迹跟踪控制器,以降低控制算法的复杂性,最后选取李雅普诺夫函数证明闭环系统所有信号一致最终有界.应用大疆M100飞行器模型进行仿真验证,结果表明所设计的控制器能够有效处理模型动态不确定和未知外界干扰问题,避免飞行器工作过程中因输入饱和导致执行器失效现象,精确地完成轨迹跟踪控制任务.
To solve the trajectory tracking problem for quadrotor UAV with control input saturation, a fuzzy adaptive dynamic surface control(DSC) scheme is proposed in the presence of the model uncertainties and the unknown external disturbances. Firstly, the disturbance observer is introduced to estimate the compound perturbation term of the position model, and the fuzzy system is designed to approximate the uncertainties and external disturbance of the attitude model.Then the hyperbolic tangent function and a constructed aid system are introduced to process the control input saturation problem. Furthermore, a novelty dynamic controller is designed based on the backstepping method with the dynamic surface technique, which can reduce the complexity of the control algorithm. Finally, by using Lyapunov analysis, it is proved that all signals of the closed-loop trajectory tracking system are the uniformly ultimate boundedness using the proposed control strategy. The simulation results on the DJI M100 aircraft model show that the designed controller can achieve strongly robust to model uncertainties and unknown external disturbances. Moreover, the proposed method can avoid the actuator failures caused by input saturation, and realize the trajectory tracking control accurately.
To solve the trajectory tracking problem for quadrotor UAV with control input saturation, a fuzzy adaptive dynamic surface control(DSC) scheme is proposed in the presence of the model uncertainties and the unknown external disturbances. Firstly, the disturbance observer is introduced to estimate the compound perturbation term of the position model, and the fuzzy system is designed to approximate the uncertainties and external disturbance of the attitude model.Then the hyperbolic tangent function and a constructed aid system are introduced to process the control input saturation problem. Furthermore, a novelty dynamic controller is designed based on the backstepping method with the dynamic surface technique, which can reduce the complexity of the control algorithm. Finally, by using Lyapunov analysis, it is proved that all signals of the closed-loop trajectory tracking system are the uniformly ultimate boundedness using the proposed control strategy. The simulation results on the DJI M100 aircraft model show that the designed controller can achieve strongly robust to model uncertainties and unknown external disturbances. Moreover, the proposed method can avoid the actuator failures caused by input saturation, and realize the trajectory tracking control accurately.
引文
[1]Zuo Z.Trajectory tracking control design with command filtered compensation for a quadrotor[J].Control Theory&Applications Iet,2010,4(11):2343-2355.
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[11]吴琛,苏剑波.四旋翼飞行器的轨迹跟踪抗干扰控制[J].控制理论与应用,2016,33(11):1422-1430.(Wu C,Su J B.Trajectory tracking of quadrotor based on disturbance rejection control[J].Control Theory&Applications,2016,33(11):1422-1430.)
[12]He W,He X,Ge S S.Vibration control of flexible marine riser systems with input saturation[J].IEEE/ASME Trans on Mechatronics,2016,21(1):254-265.
[13]Li Y M,Tong S C,Li T S.Adapyive fuzzy output feedback control for output constrained nonlinear systems in the presence of input saturation[J].Fuzzy Sets and System2014,248(10):138-155.
[14]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[J].控制理论与应用,201532(10):1361-1369.(Wei Q T,Chen M,Wu Q X.Backstepping-based attitude control for a quadrotor UAV with input saturation and attitude constraints[J].Control Theory&Applications2015,32(10):1361-1369.)
[15]Li S,Wang Y,Tan J.Adaptive and robust control of quadrotor aircrafts with input saturation[J].Nonlinear Dynamics,2017,89(1/2):1-11.
[16]胡超芳,刘艳雯.基于动态面的高超声速飞行器模糊自适应非线性控制[J].控制与决策,2013,28(12):1849-1854.(Hu C F,Liu Y W.Fuzzy adaptive nonlinear control based on dynamic surface control for hypersonic vehicle[J]Control and Decision,2013,28(12):1849-1854.)
[17]张天平,鲁瑶.带有未建模动态的非线性系统的自适应动态面控制[J].控制与决策,2012,27(3):335-342.(Zhang T P,Lu Y.Adaptive dynamic surface control of nonlinear systems with unmodeled dynamics[J].Control and Decision,2012,27(3):335-342.)
[18]Yang J,Li S,Yu X.Sliding-mode control for systems with mismatched uncertainties via a disturbance observer[J]IEEE Trans on Industrial Electronics,2013,60(1):160-169.
[19]Erginer B,Altu E.Design and implementation of a hybrid fuzzy logic controller for a quadrotor VTOL vehicle[J]Int J of Control Automation&Systems,2012,10(1):61-70.
[2]Abdessameud A,Tayebi A.Global trajectory tracking control of VTOL-UAVs without linear velocity measurements[J].Automatica,2010,46(6):1053-1059.
[3]Yuan X M,Cao K C,Zhang T,et al.Trajectory tracking control for a quad-rotor UAV based on integrator backstepping[C].The 27th Chinese Control and Decision Conf.Qingdao:IEEE,2015:1790-1795.
[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].J of Beijing University of Aeronautics and Astronautics,2016,42(8):1777-1784.)
[5]Chen Y,He Y,Zhou M.Modeling and control of a quadrotor helicopter system under impact of wind field[J].Research J of Applied Sciences Engineering&Technology,2013,6(17):3214-3221.
[6]Xiong J J,Zheng E H.Position and attitude tracking control for a quadrotor UAV[J].Isa Trans,2014,53(3):725.
[7]吴华,宋自立,李国栋,等.电力巡检飞行机器人抗风控制器设计[J].华中科技大学学报:自然科学版,201341(增1):443-446.(Wu H,Song Z L,Li G D,et al.Wind resistant controller for flying robot of power line inspection[J].J of Huazhong University of Science and Technology:Natural Science Edition,2013,41(S1):443-446.)
[8]Sumantri B,Uchiyama N,Sano S,et al.Robust tracking control of a quad-rotor helicopter utilizing sliding mode control with a nonlinear sliding surface[J].J of System Design&Dynamics,2013,7(2):226-241.
[9]Cabecinhas D,Cunha R,Silvestre C.A globally stabilizing path following controller for rotorcraft with wind disturbance rejection[J].IEEE Trans on Control Systems Technology,2015,23(2):708-714.
[10]Das A,Lewis F,Subbarao K.Backstepping approach for controlling a quadrotor using lagrange form dynamics[J]J of Intelligent&Robotic Systems,2009,56(1):127-151
[11]吴琛,苏剑波.四旋翼飞行器的轨迹跟踪抗干扰控制[J].控制理论与应用,2016,33(11):1422-1430.(Wu C,Su J B.Trajectory tracking of quadrotor based on disturbance rejection control[J].Control Theory&Applications,2016,33(11):1422-1430.)
[12]He W,He X,Ge S S.Vibration control of flexible marine riser systems with input saturation[J].IEEE/ASME Trans on Mechatronics,2016,21(1):254-265.
[13]Li Y M,Tong S C,Li T S.Adapyive fuzzy output feedback control for output constrained nonlinear systems in the presence of input saturation[J].Fuzzy Sets and System2014,248(10):138-155.
[14]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[J].控制理论与应用,201532(10):1361-1369.(Wei Q T,Chen M,Wu Q X.Backstepping-based attitude control for a quadrotor UAV with input saturation and attitude constraints[J].Control Theory&Applications2015,32(10):1361-1369.)
[15]Li S,Wang Y,Tan J.Adaptive and robust control of quadrotor aircrafts with input saturation[J].Nonlinear Dynamics,2017,89(1/2):1-11.
[16]胡超芳,刘艳雯.基于动态面的高超声速飞行器模糊自适应非线性控制[J].控制与决策,2013,28(12):1849-1854.(Hu C F,Liu Y W.Fuzzy adaptive nonlinear control based on dynamic surface control for hypersonic vehicle[J]Control and Decision,2013,28(12):1849-1854.)
[17]张天平,鲁瑶.带有未建模动态的非线性系统的自适应动态面控制[J].控制与决策,2012,27(3):335-342.(Zhang T P,Lu Y.Adaptive dynamic surface control of nonlinear systems with unmodeled dynamics[J].Control and Decision,2012,27(3):335-342.)
[18]Yang J,Li S,Yu X.Sliding-mode control for systems with mismatched uncertainties via a disturbance observer[J]IEEE Trans on Industrial Electronics,2013,60(1):160-169.
[19]Erginer B,Altu E.Design and implementation of a hybrid fuzzy logic controller for a quadrotor VTOL vehicle[J]Int J of Control Automation&Systems,2012,10(1):61-70.