基于积分反步法的四旋翼飞行器控制设计

doi:10.11959/j.issn.2096-6652.201924

智能科学与技术学报 ›› 2019, Vol. 1 ›› Issue (2): 133-139.doi: 10.11959/j.issn.2096-6652.201924

基于积分反步法的四旋翼飞行器控制设计

郭妍(),吴美平,唐康华,王雪莹

国防科技大学智能科学学院，湖南长沙 417300

修回日期:2019-06-14 出版日期:2019-06-20 发布日期:2019-09-09
作者简介:郭妍（1990- ），女，湖北咸宁人，国防科技大学智能科学学院博士生，主要研究方向为无人机导航与控制等。|吴美平（1971- ），男，福建南平人，国防科技大学智能科学学院博士生导师，主要研究方向为捷联式重力仪技术、无人机导航与控制等。|唐康华（1978- ），男，湖南邵阳人，国防科技大学智能科学学院副研究员，主要研究方向为无人机飞行控制技术等。|王雪莹（1993- ），女，河南周口人，国防科技大学智能科学学院博士生，主要研究方向为导航技术。
基金资助:
湖南省科技创新平台与人才计划基金资助项目(2017RS3045);国家重点研发计划基金资助项目(2017YFC0601701)

Integral back-stepping algorithm for designing the quadrotor aircraft controller

Yan GUO(),Meiping WU,Kanghua TANG,Xueying WANG

College of Intelligence Science and Technology,National University of Defense Technology,Changsha 417300,China

Revised:2019-06-14 Online:2019-06-20 Published:2019-09-09
Supported by:
Hunan Science and Technology Innovation Platform and Talent Plan(2017RS3045);National Key R＆D Program of China(2017YFC0601701)

摘要/Abstract

摘要：

针对目前利用反步法设计控制律模型复杂且工程难以实现的问题，提出一种基于积分反步法的四旋翼飞行器控制律设计方法。该方法利用基于李雅普诺夫稳定性理论的反步法控制技术，实现了飞行器位置和姿态的有效跟踪控制，保证了四旋翼飞行控制器的稳定性；进一步分析飞行器模型特性，提出在对姿态控制的反步法设计中加入积分项，并通过设置适当的积分项常数来简化控制律模型，增强控制算法的实用性。仿真实验结果表明，该控制器能够无误差地实现姿态跟踪、定点到达和轨迹跟踪。

关键词: 欠驱动四旋翼飞行器, 李雅普诺夫稳定性, 积分项, 反步法

Abstract:

In view of the problem that the back-stepping algorithm control model is complex and physically difficult to realize,a method of integral back-stepping algorithm for the under-actuated quadrotor aircraft was proposed in this paper.The back-stepping technique based on the Lyapunov stability theory was used to realize the effective tracking control of position and attitude,and ensure the stability of the quadrotor aircraft controller.In order to simplify the controller model,it is proposed to add the integral term in the process of the back-stepping attitude controller design according to the characteristics of the aircraft model,and set the appropriate integral term constant to reduce the burden of the controller and to enhance the practicability of the control algorithm.The controller can realize the stabilization of each attitude,the fixed point,the trajectory track of the position and yaw without error.

Key words: the under-actuated quadrotor aircraft, Lyapunov stability, the integral term, the back-stepping algorithm

中图分类号:

TP311.134.3

郭妍, 吴美平, 唐康华, 等. 基于积分反步法的四旋翼飞行器控制设计[J]. 智能科学与技术学报, 2019, 1(2): 133-139.

Yan GUO, Meiping WU, Kanghua TANG, et al. Integral back-stepping algorithm for designing the quadrotor aircraft controller[J]. Chinese Journal of Intelligent Science and Technology, 2019, 1(2): 133-139.

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参考文献 16

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参数	m（kg）	J_x（kg.m²）	J_y（kg.m²）	J_z（kg.m²）	l（m）
量值	0.6150	0.0154	0.0154	0.0309	0.0305

控制器	单步运行时间平均值（s）
简化前	4.5733 ×10^-5
简化后	2.2341 ×10^-5

基于积分反步法的四旋翼飞行器控制设计

Integral back-stepping algorithm for designing the quadrotor aircraft controller

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