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

Abstract

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

CLC Number:

TP311.134.3

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.

Figures/Tables 11

References 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

Integral back-stepping algorithm for designing the quadrotor aircraft controller

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