四旋翼飞行器全局鲁棒轨迹跟踪控制算法研究

针对四旋翼飞行器轨迹跟踪控制性能易受模型参数不确定性和未知外部干扰影响的问题，提出一种基于自适应反步法的全局鲁棒控制策略。该方法利用单一虚拟变量表达的线性化参数模型描述系统内部不确定性和外部干扰组成的集总干扰，并通过反步法设计的自适应算法在线估计虚拟变量，从而降低计算量，提高控制器的实时性。基于Lyapunov理论证明了该方法对集总干扰的鲁棒性及系统全部变量的全局一致最终有界性。最后，通过仿真算例验证了该控制策略的有效性和可行性，结果表明：该控制策略能有效克服集总干扰影响，实现四旋翼飞行器的精确轨迹跟踪。

Global Robust Control for Trajectory Tracking of a Quadrotor Aircraft

A global robust control scheme based on adaptive back stepping method was proposed for trajectory tracking of a quadrotor aircraft subjected to the compounded uncertain term caused by model uncertainties and unknown external disturbances.The compounded uncertain term was transformed into a linear parameter form with single virtual variable.And a novel adaptive law was designed to update the virtual variable,which significantly reduced the computational complexity and improved the real time property of the controller.Based on the Lyapunov theory,the robustness of the proposed method to the compounded uncertain and the global uniform final boundedness of all the variables in the system were proved.Finally,the effectiveness and feasibility of the novel global robust control strategy were verified by numerical simulation.Simulation results show that the controller achieves superior performances in trajectory tracking control of a quadrotor subjected to the compounded uncertain.