Song Zhankui, Sun Kaibiao
School of Information Science and Engineering, Dalian Polytechnic University, Dalian 116034, China.
School of Control Science and Engineering, Dalian University of Technology, Dalian 116034, China.
ISA Trans. 2017 Jul;69:242-255. doi: 10.1016/j.isatra.2017.04.003. Epub 2017 Apr 15.
A compensation control strategy based on adaptive back-stepping technique is presented to address the problem of attitude adjustment for a quad-rotor unmanned aerial vehicle (QR- UAV) with inertia parameter uncertainties, the limited airflow disturbance and the partial loss of rotation speed effectiveness. In the design process of control system, adaptive estimation technique is introduced into the closed loop system in order to compensate the lumped disturbance term. More specifically, the designed controller utilizes "prescribed performance bounds" method, and therefore guarantees the transient performance of tracking errors, even in the presence of the lumped disturbance. Adaptive compensation algorithms under the proposed closed loop system structure are derived in the sense of Lyapunov stability analysis such that the attitude tracking error converge to a small neighborhood of equilibrium point. Finally, the simulation results demonstrate the effectiveness of the proposed controller.
提出了一种基于自适应反步技术的补偿控制策略，以解决具有惯性参数不确定性、有限气流扰动和部分转速有效性损失的四旋翼无人机（QR-UAV）的姿态调整问题。在控制系统的设计过程中，将自适应估计技术引入闭环系统，以补偿集总干扰项。更具体地说，所设计的控制器采用“规定性能界限”方法，因此即使在存在集总干扰的情况下，也能保证跟踪误差的暂态性能。在所提出的闭环系统结构下，基于李雅普诺夫稳定性分析推导了自适应补偿算法，使姿态跟踪误差收敛到平衡点的一个小邻域内。最后，仿真结果验证了所提控制器的有效性。
