论文部分内容阅读
针对反推控制方法在四旋翼飞行器轨迹跟踪中存在动态误差的问题,提出改善轨迹跟踪性能的间接迭代学习控制算法。首先将飞行器分为姿态和高度全驱动控制通道和水平轨迹欠驱动控制通道;然后基于反推控制方法分别设计了全驱动和欠驱动通道的稳定控制器,进而采用PID型迭代学习算法对反推控制器参考输入信号进行更新优化;最后,采用压缩映射原理和λ范数理论证明了算法的收敛性。仿真实验结果表明,PID型迭代学习律能够有效改善反推控制器的控制效果,实现对期望轨迹的完全跟踪。
Aiming at the problem of the dynamic error in the quadruped rotor trajectory tracking based on the backstepping control method, an indirect iterative learning control algorithm is proposed to improve the trajectory tracking performance. Firstly, the aircraft is divided into attitude and height full-drive control channels and horizontal trajectory under-drive control channels. Then, a stable controller with full-drive and under-drive channels is designed based on the backstepping control method. The controller revises and optimizes the input signal. Finally, the convergence of the algorithm is proved by using the principle of contraction mapping and λ norm theory. The simulation results show that the PID-type iterative learning law can effectively improve the control effect of the backstepping controller and realize the complete tracking of the desired trajectory.