School of Information Science and Engineering, Central South University, Changsha, Hunan, 410075, PR China.
School of Information Science and Engineering, Central South University, Changsha, Hunan, 410075, PR China.
ISA Trans. 2019 Apr;87:10-16. doi: 10.1016/j.isatra.2018.11.015. Epub 2018 Nov 19.
This paper deals with the attitude tracking control of quadrotor unmanned aerial vehicles (UAV) with uncertainties and external disturbances. The control system is expressed on the special orthogonal group, SO(3), to avoid singularities and ambiguities associated with Euler angles and quaternions respectively. It is also the basis for achieving large angle tracking and complex UAV maneuver. Meanwhile, it greatly reducing the complexity of the controller design via variation-based linearization. And the approach of interval matrix is introduced to solve problems of controller online calculation and reduced control accuracy caused by uncertain parameters in model. The proposed robust H control system can exponential asymptotically follow a desired attitude trajectory in the presence of unstructured bounded disturbances. Finally, several simulation results are provided to validate the effectiveness, advantages and robustness of the proposed method.
本文针对存在不确定性和外部干扰的四旋翼无人机（UAV）的姿态跟踪控制问题展开研究。控制系统采用特殊正交群 SO(3) 表示，以避免分别与欧拉角和四元数相关的奇点和歧义。这也是实现大角度跟踪和复杂 UAV 机动的基础。同时，基于变分线性化的方法大大降低了控制器设计的复杂性。并引入区间矩阵的方法解决了模型中不确定参数导致控制器在线计算和控制精度降低的问题。所提出的鲁棒 H 控制系统能够在存在非结构化有界干扰的情况下，使期望的姿态轨迹指数渐近跟踪。最后，通过几个仿真结果验证了所提出方法的有效性、优势和鲁棒性。
