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针对微型无人直升机在狭窄空间中的轨迹跟踪问题,设计了一种可以限制直升机位置和速度的跟踪控制器.首先将直升机的模型简化为一个未建模的动态模型.基于简化模型利用受限反步法设计控制器,其中在位置控制回路用障碍李雅普诺夫函数代替传统的纯二次型李雅普诺夫函数,以此来限制直升机的位置和速度;用指令滤波器对反步过程中虚拟控制的导数进行估计,避免了复杂的解析计算.此外,将未建模动态和指令滤波器误差合并成有界扰动项,并设计了自适应算法对扰动的上界进行估计和补偿.稳定性分析证明了直升机的闭环跟踪误差最终一致有界,且位置和速度始终位于预设的限制集合中.仿真结果验证了该控制器的有效性.
Aiming at the trajectory tracking problem of a narrow unmanned helicopter in a narrow space, a tracking controller that can limit the position and speed of the helicopter is designed. First, the helicopter model is simplified as an unmodeled dynamic model. Based on the simplified model, Back-step design of the controller, which in the position control loop with the barrier Lyapunov function instead of the pure pure quadratic Lyapunov function, in order to limit the helicopter position and speed; with the command filter for the virtual process Control of the derivative to avoid the complex analytical calculation.In addition, the unmodeled dynamic and command filter errors are combined into a bounded disturbing term, and an adaptive algorithm is designed to estimate and compensate the upper bound of the disturbance. The analysis proves that the closed-loop tracking error of the helicopter is eventually uniform and bounded, and the position and velocity are always in the preset limit set. Simulation results verify the effectiveness of the controller.