一类多旋翼无人机的姿态控制
毕业论文关键词 非线性系统 抗干扰 姿态跟踪
Title Attitude Tracking and disturbance rejection of Unmanned Aerial Vehicle
Abstract
In this technical note, we deal with the attitude tracking and disturbance re
jection of spacecraft for a class of persistent disturbances with unbounded e
nergy which include the sinusoidal disturbance as a special case. The aim of
our research is to design a stable closed-loop system and the output if the c
losed-loop system can asymptotically track a class of desired trajectories an
d asymptotic disturbance rejection. The approach involves the integration of
techniques from robust, adaptive control, and robust output regulation theor
y. Using internal model of the output regulation theory to design a dynamic c
ompensator with asymptotic disturbance rejection, the spacecraft attitude tra
cking problem is transformed into a problem of robust stability with a state
feedback the attitude tracking and disturbance rejection controller. The mai
n part of the article includes vehicle dynamic model analysis, simplification
and conversion, controller design and the experimental simulation. The simul
ation results show that the scheme has good adaptive ability and robustness.
Keywords nonlinear systems disturbance rejection attitude tracking
目 次
1 引言 . 1
1.1 课题背景 . 1
1.1.1 四旋翼无人飞行器的介绍 . 1
1.1.2 四旋翼无人飞行器的动力结构 . 1
1.1.3 四旋翼无人飞行器的非线性特征 . 1
1.2 控制方法概述 . 1
1.2.1 H∞控制方法 1
1.2.2 逆自适应控制简介 . 2
1.2.3 输出调节理论 . 2
1.2.4 内模原理 . 2
1.3 全文概要 . 3
1.3.1 背景要求 . 3
1.3.2 全文布局 . 3
2. 预备知识 5
2.1 Lyapunov 稳定性 . 5
2.2 Barbalat 引理 . 5
2.3 输出调节的一般框架 . 5
2.3.1稳态生成器 . 6
2.3.2候选内模 . 7
3 飞行器模型和问题描述 . 9
3.1 飞行器模型 . 9
3.1.1 姿势运动学方程 . 9
3.1.2干扰模型 . 9
3.2 设计要求 10
3.2.1目标问题 10
3.2.2控制器要求 10
4问题转化 11
4.1 坐标变换 11 4.2 证明1 . 11