[1]何栋炜,解维坤,高培,等.四旋翼无人机高度控制——基于CNF与自适应非光滑控制[J].福建工程学院学报,2018,16(01):55-60.[doi:10.3969/j.issn.1672-4348.2018.01.011]
　HE Dongwei,XIE Weikun,GAO Pei,et al.Altitude control for quadrotor UAV——Based on composite nonlinear feedback and adaptive nonsmooth control method[J].Journal of FuJian University of Technology,2018,16(01):55-60.[doi:10.3969/j.issn.1672-4348.2018.01.011]
点击复制

四旋翼无人机高度控制——基于CNF与自适应非光滑控制()
分享到：

《福建工程学院学报》[ISSN:2097-3853/CN:35-1351/Z]

卷:
第16卷
期数:
2018年01期
页码:
55-60
栏目:
出版日期:
2018-02-25

文章信息/Info

Title:
Altitude control for quadrotor UAV——Based on composite nonlinear feedback and adaptive nonsmooth control method
作者:
何栋炜; 解维坤; 高培; 郑积仕
福建工程学院信息科学与工程学院
Author(s):
HE Dongwei;  XIE Weikun;  GAO Pei;  ZHENG Jishi
School of Information Science and Engineering, Fujian University of Technology
关键词:
四旋翼无人飞行器;  复合非线性反馈;  自适应非光滑控制;  高度控制
Keywords:
quadrotor UAV;  composite nonlinear feedback (CNF);  adaptive nonsmooth control;  altitude control
分类号:
V249
DOI:
10.3969/j.issn.1672-4348.2018.01.011
文献标志码:
A
摘要:
针对受限环境下四旋翼无人飞行器在参数不确定及外部扰动影响下的高性能高度控制问题，设计一种基于复合非线性反馈（CNF）和自适应非光滑轨迹跟踪控制的高度控制方法。通过四旋翼无人飞行器的垂直通道动力学模型分析和变换，将高度轨迹规划问题转换为输入受限的线性系统控制问题，设计CNF控制器实现轨迹生成；建立参数不确定及外部扰动影响下的垂直通道动力学模型，设计一种自适应非光滑轨迹跟踪控制器，并理论证明了闭环系统稳定性。最后，通过仿真实验验证所提出方法的有效性。结果表明，所设计方法能够有效提高参数不确定及外部扰动下的高度控制品质，且简单实用。
Abstract:
In order to improve the performance of altitude control of quadrotor UAV in restricted environment with parameters uncertainty and external disturbance, a control method was designed, integrating composite nonlinear feedback (CNF) method and adaptive nonsmooth control. First, the altitude trajectory plan problem was transferred into a linear system control problem with input saturation, and then a CNF controller was designed to generate the trajectory. Second, an altitude dynamic model was built for the quadrotor, considering parameter uncertainty and external disturbances, and then an adaptive nonsmooth tracking controller was designed, and the stability of the closed-loop system was proved theoretically. Finally, simulations were carried out to verify the effectiveness of the proposed method. Results demonstrate that the proposed method could improve the performance of altitude control against parameters uncertainty and external disturbances, and it is simple for application.

参考文献/References:

[1] BOUABDALLAH S, MURRIERI P, SIEGWART R. Design and control of an indoor micro quadrotor[C]∥2004 IEEE International Conference on Robotics and Automation, IEEE, 2004: 4393-4398.
[2] KENDOUL F. Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems[J]. Journal of Field Robotics, 2012, 29(2): 315-378.
[3] BOUABDALLAH S, NOTH A, SIEGWART R. PID vs LQ control techniques applied to an indoor micro quadrotor[C]∥ International Conference on Intelligent Robots and Systems. IEEE, 2004: 2451-2456.
[4] KHATOON S, SHAHID M, IBRAHEEM, et al. Dynamic modeling and stabilization of quadrotor using PID controller[C]∥ International Conference on Advances in Computing, Communications and Informatics, 2014: 746-750.
[5] KHEBBACHE H, TADJINE M. Robust fuzzy backstepping sliding mode controller for a quadrotor unmanned aerial vehicle[J]. Control Engineering & Applied Informatics, 2013, 15(2): 3-11.
[6] CHEN F, JIANG R, ZHANG K, et al. Robust backstepping sliding-mode control and observer-based fault estimation for a quadrotor UAV[J]. IEEE Transactions on Industrial Electronics, 2016, 63(8): 5044-5056.
[7] 许璟,蔡晨晓,李勇奇,等.小型四旋翼无人机双闭环轨迹跟踪与控制[J].控制理论与应用,2015,32(10):1335-1342.
[8] DYDEK Z T, ANNASWAMY A M, LAVRETSKY E. Adaptive control of quadrotor UAVs: a design trade study with flight evaluations[J]. IEEE Transactions on Control Systems Technology, 2013, 21(4): 1400-1406.
[9] 李劲松.四旋翼小型无人直升机自适应逆控制研究[D].上海:上海交通大学,2014.
[10] 李劲松,杨炼,王乐天.小型四旋翼无人直升机自适应优化控制[J].上海交通大学学报,2015,49(2):202-208.
[11] ZHAO B, XIAN B, ZHANG Y, et al. Nonlinear robust adaptive tracking control of a quadrotor UAV via immersion and invariance methodology[J]. IEEE Transactions on Industrial Electronics, 2015, 62(5): 2891-2902.
[12] ISLAM S, LIU P X, EL SADDIK A. Robust control of four-rotor unmanned aerial vehicle with disturbance uncertainty[J]. IEEE Transactions on Industrial Electronics, 2015, 62(3): 1563-1571.
[13] LAN W, THUM C K, CHEN B M. A hard-disk-drive servo system design using composite nonlinear-feedback control with optimal nonlinear gain tuning methods[J]. IEEE Transactions on Industrial Electronics, 2010, 57(5): 1735-1745.
[14] CHEN B M, LEE T H, PENG K, et al. Composite nonlinear feedback control for linear systems with input saturation: theory and an application[J]. IEEE Transactions on Automatic Control, 2003, 48(3): 427-439.
[15] 斯洛坦(SLOTINE J E)，李(LI W)，程代展.应用非线性控制[M].北京：机械工业出版社,2006.
[16] HOU M, DUAN G, GUO M. New versions of Barbalat’s lemma with applications[J]. Journal of Control Theory and Applications, 2010, 8(4): 545-547.

更新日期/Last Update: 2018-02-25