基于改进反步法的四旋翼无人机轨迹跟踪控制

doi:10.12068/j.issn.1005-3026.2018.01.014

东北大学学报:自然科学版 ›› 2018, Vol. 39 ›› Issue (1): 66-70.DOI: 10.12068/j.issn.1005-3026.2018.01.014

基于改进反步法的四旋翼无人机轨迹跟踪控制

周来宏，窦景欣，张居乾，闻邦椿

(东北大学机械工程与自动化学院，辽宁沈阳110819)

收稿日期:2016-07-06 修回日期:2016-07-06 出版日期:2018-01-15 发布日期:2018-01-31
通讯作者: 周来宏
作者简介:周来宏(1983-)，男，辽宁大连人，东北大学博士研究生; 闻邦椿(1930-)，男，浙江温岭人，东北大学教授，博士生导师，中国科学院院士.
基金资助:
国家自然科学基金资助项目(51375080); 中央高校基本科研业务费专项资金资助项目(N150306002).

Trajectory Tracking Control for a Quadrotor UAV Based on Improved Backstepping

ZHOU Lai-hong， DOU Jing-xin， ZHANG Ju-qian， WEN Bang-chun

School of Mechanical Engineering & Automation， Northeastern University， Shenyang 110819， China.

Received:2016-07-06 Revised:2016-07-06 Online:2018-01-15 Published:2018-01-31
Contact: ZHOU Lai-hong
About author:-
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摘要/Abstract

摘要： 四旋翼无人机是一个欠驱动、强耦合、高度不稳定的非线性系统.无人机系统的鲁棒性和抗干扰能力是飞行控制的关键问题.在经典反步控制(classical backstepping control，CBC)方法的基础上，增加了误差积分和饱和函数，设计了积分饱和反步控制(integral saturation backstepping control，ISBC)策略，用于抵抗无人机飞行过程中受到的常值干扰和变值干扰.系统的稳定性由Lyapunov稳定性定理证明.在MATLAB/SIMULINK环境下做了轨迹跟踪仿真实验.仿真结果表明，相比CBC控制策略，ISBC控制策略对四旋翼无人机系统有更好的抗干扰能力和优越的鲁棒性.

关键词: 四旋翼无人机, 反步控制, 饱和函数, 误差积分, 轨迹跟踪

Abstract: Quadrotor unmanned aerial vehicle (UAV) is an underactuated， strongly coupled and highly unstable nonlinear system. The robustness and ability of anti-jamming for UAV system are the key problems of flight control. In order to restrain constant disturbance and variable disturbance during UAV flight， a novel control method named integral saturation backstepping control (ISBC) was proposed by introducing both the error integral and saturation function into classical backstepping control (CBC). The system stability was verified by the Lyapunov stability theorem. The simulation experiment of trajectory tracking was carried out using MATLAB/SIMULINK. Results of simulation experiment indicate that the quadrotor UAV system with ISBC control strategy performs better for anti-jamming and superior robustness than that with CBC control strategy.

Key words: quadrotor UAV, backstepping control, saturation function, error integral, trajectory tracking

中图分类号:

V249

周来宏，窦景欣，张居乾，闻邦椿. 基于改进反步法的四旋翼无人机轨迹跟踪控制[J]. 东北大学学报:自然科学版, 2018, 39(1): 66-70.

ZHOU Lai-hong， DOU Jing-xin， ZHANG Ju-qian， WEN Bang-chun. Trajectory Tracking Control for a Quadrotor UAV Based on Improved Backstepping[J]. Journal of Northeastern University Natural Science, 2018, 39(1): 66-70.

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基于改进反步法的四旋翼无人机轨迹跟踪控制

Trajectory Tracking Control for a Quadrotor UAV Based on Improved Backstepping

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