无人直升机部分姿态约束安全飞行控制
Safe Flight Control of Unmanned Helicopters with Partial Attitude Constraints
杜佳玮 1李天鸿 1李艳恺 1历东平 2弋英民 1黄宇龙1
作者信息
- 1. 西安理工大学自动化与信息工程学院,西安 710048
- 2. 西安工业大学基础学院,西安 710021
- 折叠
摘要
针对无人直升机系统,在保证姿态约束在指定范围的前提下,研究其全自由度控制问题.考虑到系统的强非线性、强耦合性、欠驱动性以及中间控制变量需保证有界等特点,文中通过反馈线性化方法降低非线性和耦合性的强度,设计控制器直接控制3个位置自由度和偏航角.同时,利用障碍Lyapunov函数方法局部约束中间变量来间接控制滚转角和俯仰角,保证直升机姿态有界.结合非线性系统控制理论,在保证跟踪误差系统有界的同时对系统进行稳定性分析.最后通过模拟实例验证了该方法的有效性.
Abstract
For the unmanned helicopter system,the full-degree-of-freedom control problem is studied,while ensuring that the attitude constraints are within the specified range.Considering that the characteristics of the system such as strong nonlinearity,strong coupling,under driving,and intermediate control variables need to be guaranteed to be bounded,this paper reduces the strength of the nonlinearity and coupling through the feedback linearization method,and designs the controller to directly control the three positional degrees of freedom and the yaw angle.At the same time,this paper utilizes the obstacle Lyapunov function method to locally constrain the intermediate variables to indirectly control the roll angle and the pitch angle,thus ensuring that the helicopter's attitude is bounded.Combined with the nonlinear system control theory,the tracking error system is guaranteed to be bounded,while the system is analyzed for stability.Finally,the method effectiveness is validated through simulation examples.
关键词
全自由度无人直升机/姿态状态约束/反馈线性化/跟踪飞行控制/反步法Key words
full-degree-of-freedom unmanned helicopter/attitude state constrained/feedback linearization/tracking flight control/backstepping引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据