| 邹立颖,林钰川,惠鹏飞.基于有限时间观测器的VTOL飞行器跟踪控制[J].高技术通讯(中文),2023,33(1):106~112 |
| 基于有限时间观测器的VTOL飞行器跟踪控制 |
| Tracking control for the VTOL aircraft based on a finite time oberserver |
| |
| DOI：10. 3772/ j. issn. 1002-0470. 2023. 01. 011 |
| 中文关键词: 垂直起降（VTOL）飞行器； 输出反馈； 有限时间控制； 欠驱动 |
| 英文关键词: vertical take-off and landing (VTOL) aircraft, output feedback, finite time control, underactuated |
| 基金项目: |
| 作者 | 单位 | | 邹立颖 | (齐齐哈尔大学通信与电子工程学院齐齐哈尔 161006) | | 林钰川 | (齐齐哈尔大学通信与电子工程学院齐齐哈尔 161006) | | 惠鹏飞 | (齐齐哈尔大学通信与电子工程学院齐齐哈尔 161006) |
|
| 摘要点击次数: 696 |
| 全文下载次数: 538 |
| 中文摘要: |
| 针对垂直起降（VTOL）飞行器的轨迹跟踪控制问题，本文提出了一种基于有限时间控制的输出反馈控制方案。采用系统分解技术将原系统解耦成2个子系统，将原系统的输出轨迹跟踪问题转化为2个子系统的镇定问题。对解耦后的系统，利用滑模控制方法设计了一种状态反馈控制律，所设计的控制器能够保证闭环系统有限时间稳定。考虑部分状态不可测量情况下的VTOL飞行器轨迹跟踪控制问题，提出了一个有限时间快速收敛观测器，基于有限时间快速收敛观测器提出了有限时间输出反馈控制律。仿真结果表明，所提出的控制方法具有良好的跟踪性能，能够实现飞行器对给定参考轨迹的快速、准确跟踪。 |
| 英文摘要: |
| Aiming at the trajectory tracking problem of vertical take-off and landing (VTOL) aircraft, an output feedback control scheme based on finite time control is proposed in this paper. A system decomposition technique is used to decouple the VTOL system. By employing two global coordinate transformations, the tracking problem of the VTOL aircraft is converted to the stabilizing problem of the decoupled system. On the basis of the decoupled system, the slide mode control state feedback control method is proposed to stabilize the tracking error subsystem, which makes the overall closed-loop system finite time stable. Considering the partial states are unmeasurable, an output feedback control law based on a finite-time oberserver is developed which can assure the closed-loop system globally finite-time stable. The simulation results show that the proposed control method has good tracking performance and can realize fast and accurate tracking of the given reference trajectory of the aircraft. |
|
查看全文
查看/发表评论 下载PDF阅读器 |
| 关闭 |
