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针对只有目标与载机的相对距离信息,而无速度信息的跟踪控制问题,以及在任务场景中对四旋翼无人机期望姿态角有约束的要求,设计了一种位置-姿态控制器。位置控制器只需要目标与载机的相对距离作为输入,其输出保证所生成的期望姿态指令在指定的范围内。为了保证在有限时间收敛至期望姿态,姿态控制器采用了二阶滑模的设计方法,缓解了电机输出指令颤振,并对外部扰动和模型不确定性具有较好的鲁棒性。最后进行了在风场中针对多种机动形式的目标进行了跟踪飞行仿真,得到了满意的跟踪效果。
Aiming at the problem that only the relative distance between the target and the carrier, the tracking control without speed information and the constraint of the desired attitude angle of the quadcopter in the mission scenario, a position - attitude controller is designed. The position controller only needs the relative distance between the target and the carrier as input, the output of which ensures that the generated desired gesture command is within the specified range. In order to ensure that the attitude controller converges to the desired attitude in a finite time, the attitude controller adopts the design method of the second-order sliding mode, which alleviates the output chattering of the motor and has good robustness to external disturbances and model uncertainties. Finally, aiming at many maneuvering targets in the wind field, a tracking flight simulation was carried out, and a satisfactory tracking result was obtained.