输入受限的多旋翼无人机轨迹跟踪鲁棒正定不变集设计

针对输入受限的多旋翼无人机轨迹跟踪问题设计了鲁棒正定不变集.考虑多旋翼无人机的非线性动力学模型、外部不确定干扰以及输入饱和约束等因素,首先设计带有干扰抵消项的非线性控制律以保证无人机轨迹跟踪的稳定性,进而基于线性矩阵不等式(LMIs)构造了鲁棒正定不变集.在所设计的控制律作用下,无人机轨迹跟踪误差一旦进入所构造的不变集...

Design of robust positively invariant set for trajectory tracking of multi-rotor UAV with input saturation

A robust positively invariant(RPI) set is designed for the trajectory tracking problem of a multi-rotor unmanned aerial vehicles(UAVs) subject to external disturbance and input saturation. With considering the nonlinear dynamics, external disturbance and input saturation of the multi-rotor UAV, a nonlinear control law with disturbance offset is designed firstly to ensure the stability of tracking, and the RPI set is constructed based on linear matrix inequalities(LMIs). For the tracking error within the designed RPI set, the designed control law can always guarantee that the tracking error stays in the RPI set forever and eventually converges to zero. The above properties are verified by the theoretical derivation and simulation results.