基于视觉的无人机鲁棒tau控制方法研究

发布时间：2018-06-20 21:15

本文选题：四旋翼无人机 + 视觉着陆　；参考：《哈尔滨工程大学学报》2016年02期

【摘要】：在没有位置信息、仅有视觉信息条件下,为实现四旋翼飞行器的高度、速度同时收敛至零的平稳着陆控制,在tau导引策略的基础上,设计了一种抗扰动鲁棒tau控制器,并给出稳定性证明。在整个飞控系统设计中,根据四旋翼的动力学特点,将其分解为外环tau控制器与内环姿态控制器两部分。在由tau控制器的输出提取合力指令以及姿态控制器的姿态指令时,为满足姿态和升降速度的约束要求,进一步设计了指令饱和函数。为提高姿态抗扰动能力,设计了SO(3)滑模姿态控制器。着陆对比仿真验证结果显示,相对于已有的tau控制方法,鲁棒tau控制器具有更好的抗扰动能力和tau跟踪控制精度。
[Abstract]:Under the condition of no position information and only visual information, a robust anti-disturbance tau controller is designed based on the tau guidance strategy in order to achieve the stable landing control of the four-rotor aircraft with the height and speed converging to zero at the same time. The stability proof is given. In the design of the flight control system, according to the dynamic characteristics of the four-rotor, it is decomposed into two parts: the outer loop tau controller and the inner loop attitude controller. In order to satisfy the constraint requirements of attitude and ascending speed, the instruction saturation function is further designed when extracting the resultant instruction from the output of the tau controller and the attitude instruction of the attitude controller. In order to improve the attitude anti-disturbance capability, a sliding mode attitude controller is designed. The simulation results show that the robust tau controller has better anti-disturbance capability and tau tracking control accuracy than the existing tau control methods.
【作者单位】：海军航空工程学院青岛校区;海军航空兵学院空中领航勤务系;海军航空工程学院战略导弹系;
【基金】：国家自然科学基金资助项目(11461075)
【分类号】：V249.12

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