输入受限四旋翼飞行器的模糊自适应动态面轨迹跟踪控制

针对输入受限条件下四旋翼飞行器的轨迹跟踪控制问题,考虑系统存在模型动态不确定和未知外界干扰的情况,提出一种模糊自适应动态面轨迹跟踪控制方法.该方法设计干扰观测器估计位置模型中复合扰动项,利用模糊系统逼近姿态模型中不确定项和外界干扰,并引入双曲正切函数和辅助系统处理输入受限问题,结合反演法和动态面技术设计轨迹跟踪控制器,以降低控制算法的复杂性,最后选取李雅普诺夫函数证明闭环系统所有信号一致最终有界.应用大疆M100飞行器模型进行仿真验证,结果表明所设计的控制器能够有效处理模型动态不确定和未知外界干扰问题,避免飞行器工作过程中因输入饱和导致执行器失效现象,精确地完成轨迹跟踪控制任务.

Fuzzy adaptive dynamic surface trajectory tracking control for quadrotor UAV with input constraints

To solve the trajectory tracking problem for quadrotor UAV with control input saturation, a fuzzy adaptive dynamic surface control(DSC) scheme is proposed in the presence of the model uncertainties and the unknown external disturbances. Firstly, the disturbance observer is introduced to estimate the compound perturbation term of the position model, and the fuzzy system is designed to approximate the uncertainties and external disturbance of the attitude model. Then the hyperbolic tangent function and a constructed aid system are introduced to process the control input saturation problem. Furthermore, a novelty dynamic controller is designed based on the backstepping method with the dynamic surface technique, which can reduce the complexity of the control algorithm. Finally, by using Lyapunov analysis, it is proved that all signals of the closed-loop trajectory tracking system are the uniformly ultimate boundedness using the proposed control strategy. The simulation results on the DJI M100 aircraft model show that the designed controller can achieve strongly robust to model uncertainties and unknown external disturbances. Moreover, the proposed method can avoid the actuator failures caused by input saturation, and realize the trajectory tracking control accurately.