基于反步法的四旋翼无人机自适应控制研究

doi:10.16180/j.cnki.issn1007-7820.2022.03.005

摘要/Abstract

摘要：

文中设计了基于反步法的自适应控制器,来解决无人机在外界干扰情况下的姿态和位置控制稳定性问题。针对“X”型无人机进行动力学建模,将其转换为具有外界干扰的严反馈形式。将系统分为位置子系统和姿态子系统,结合反步控制,运用Lyapunov函数递推出使系统稳定的自适应律和各通道的控制律,再通过推出的通道控制律反解出期望的姿态角,使系统形成闭环。MATLAB-Simulink仿真模型的仿真结果表明,文中所设计的控制器在存在外界干扰的情况下,能对无人机的姿态和位置进行良好地跟踪。

关键词: 四旋翼, 无人机, 反步法, 动力学模型, Lyapunov函数, 控制器设计, 外界干扰, 仿真

Abstract:

An adaptive controller based on backstepping is designed to solve the problem of attitude and position control stability of UAVs under external interference. The dynamic modeling for the "X" UAV is conducted, and then converted into a strict feedback form with external interference. The system is divided into a position subsystem and an attitude subsystem. Combined with backstepping control, Lyapunov function is used to recursively deduce the adaptive law and the control law of each channel to make the system stable. Then the desired attitude angle can be inversely obtained through the channel control law, so that the system forms a closed loop. The simulation results of MATLAB-Simulink simulation model show that the controller designed in this study can effectively track the attitude and position of the UAV well in the presence of external interference.

Key words: quadrotor, unmanned aerial vehicles, backstepping method, dynamic model, Lyapunov function, controller design, external interference, simulation

中图分类号:

TP273

沈昕格,金海,郭亮. 基于反步法的四旋翼无人机自适应控制研究[J]. 电子科技, 2022, 35(3): 32-37.

Xinge SHEN,Hai JIN,Liang GUO. Research on Adaptive Backstepping Control of Quadrotor UAV[J]. Electronic Science and Technology, 2022, 35(3): 32-37.

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参数名	符号	数值	单位
无人机总质量	m	1.5	kg
无人机轴距	L	0.25	m
杭州重力加速度	g	9.793 6	m·s^-2
绕X轴的转动惯量	I_x	5.813×10^-3	kg·m²
绕Y轴的转动惯量	I_y	5.813×10^-3	kg·m²
绕Z轴的转动惯量	I_z	1.108×10^-2	kg·m²
机身阻力系数	K	2.336×10^-2	N·(m·s)^-2