输出误差约束下四旋翼无人机预定性能反步控制

针对外界干扰和输出误差约束条件下的四旋翼无人机的跟踪控制问题,提出预定性能反步跟踪控制策略.首先,将四旋翼无人机动力学模型转换为带有外界干扰的严反馈形式;然后,利用反步法设计控制器,通过引入障碍Lyapunov函数保证跟踪误差的预定性能,设计干扰观测器对外界干扰进行估计,并通过滤波器估计姿态子系统中部分虚拟控制输入的导数;通过稳定性分析说明所设计的控制器可以保证跟踪误差的有界稳定性,且跟踪误差一直处于预设边界内;最后,通过仿真验证所设计控制策略的有效性.

Prescribed performance backstepping control for quadrotor UAV with output error constraint

The quadrotor unmanned tracking control problem in the external disturbance and constraints of the output error is investigated in this paper. Firstly, the dynamics model of the quadrotor UAV is transformed into a strict feedback form with the external disturbances. Then, the backstepping method is used to design the controller, the barrier Lyapunov function is introduced to ensure the prescribed performance of the tracking error, the disturbance observer is designed to estimate the external disturbance, and the derivatives of some virtual control inputs in the attitude subsystem are estimated through the filter. The stability analysis shows that the designed controller can guarantee the bounded stability of the tracking error, and the tracking error remains within the preset boundary. Finally, the simulation results verify the effectiveness of the proposed control strategy.