基于几何控制的四旋翼轨迹跟踪方法
Trajectory Tracking Method of Quadrotor Based on Geometric Control
周嘉麒 1王指辉 1王民泰 1印雅萌 1翁祥瑞1
作者信息
摘要
针对欠驱动四旋翼无人机在大角度和复杂机动飞行中的控制问题,提出了一种基于几何控制的轨迹跟踪方法,该控制器具有全局稳定性,系统可以从任何初始状态恢复.首先,对四旋翼系统构型进行建模,解决了非线性流形上平移动力学和旋转动力学之间的耦合效应;其次,针对动态系统的基本几何特征,采用微分几何方法设计了跟踪控制器;最后,对该系统进行仿真验证了轨迹跟踪的闭环稳定性.仿真结果表明,当初始姿态误差小于90°时,系统表现出指数稳定性;当初始姿态误差大于90°小于180°时,系统具有全局指数吸引性.
Abstract
Aiming at the control problems of under-driven quadrotor UAVs in large-angle and complex maneuvering flight,a trajectory tracking method based on geometric control is proposed.The controller has global stability and the system can recover from any initial state.Firstly,the configuration of the quadrotor system is modeled to solve the coupling effect between translational motion and rotational dynamics on the nonlinear manifold.Secondly,the tracking control is designed by using differential geometry in view of the basic geometric characteristics of the dynamic system.Finally,the system is simulated to verify the closed-loop stabil-ity of trajectory tracking.The simulation results show that when the initial attitude error is less than 90°,the system exhibits expo-nential stability,when the initial attitude error is greater than 90°and less than 180°,the system has global exponential attractive-ness.
关键词
四旋翼/轨迹跟踪/非线性流形/几何控制Key words
quadrotor UAV/trajectory tracking/nonlinear manifold/geometric control引用本文复制引用
基金项目
南京航空航天大学研究生开放基金项目(kfjj20201506)
出版年
2024
国家科技期刊平台
NSTL
万方数据