一种新型多旋翼飞行器的建模与反演控制

针对目前多旋翼飞行器存在的不足之处,提出一种外形布局新颖、内部结构简洁、具有硬件冗余且易于工程实现的新型多旋翼飞行器,并提出一种反演控制策略.首先,给出了飞行器的运动学模型和动力学模型,随后,设计了飞行器的姿态和位置控制器.其中,姿态控制器设计中将一阶滤波器和线性跟踪微分器用于其中,以实现系统对控制指令的快速响应;位置控制器用于解算跟踪期望轨迹所需要的姿态角信息.最后,通过仿真验证实验,验证了本文所提控制策略的正确性.

Modeling and Backstepping Control for a Novel Multi- rotor Aircraft

Aiming at the existing inadequacies of the current multi - rotor aircraft, a novel multi - rotor aircraft with new and unique layout, simple structure, hardware redundancy was presented. This aircraft is prac- tically easy to be accomplished. A baekstepping control scheme was proposed in this paper for the multi - rotor aircraft. First, the kinematics and dynamics models of the aircraft were described. Then, the attitude controller and position controller were designed. In order to achieve the system~ response to the commands rapidly, a first -order filter and a linear tracking differentiator were used in the controller design procedure. The position con- troller was used to calculate the attitude angle information to track the desired trajectory. Finally, the correctness of the proposed control scheme was verified through simulation experiments.