摘要
In this paper,as for the unmanned air vehicle(UAV)under external disturbance,an attainable-equilibrium-set-based safety fight envelope(SFE)calculation method is proposed,based on which a prescribed performance protection control scheme is presented.Firstly,the existing definition of the SFE based on attainable equilibrium set(AES)is extended to make it consistent and suitable for the UAV system under disturbance.Secondly,a higher-order disturbance observer(HODO)is developed to estimate the disturbances and the disturbance estimation is applied in the computation of the SFE.Thirdly,by using the calculated SFE,a desired safety trajectory based on the time-varying safety margin function and first-order filter is developed to prevent the states of the UAV system from exceeding the SFE.Moreover,an SFE protection controller is proposed by combining the desired safety trajectory,backstepping method,HODO design,and prescribed performance(PP)control technique.In particular,the closed-loop system is established on the basis of disturbance estimation error,filter error,and tracking error.Finally,the stability of the closed-loop system is verified by the Lyapunov stability theory,and the simulations are presented to illustrate the effectiveness of the proposed control scheme.
基金
supported in part by the National Science Fund for Distinguished Young Scholars 61825302
in part by the National Natural Science Foundation of China under Grant U2013201
in part by the Key R&D projects(Social Development)in Jiangsu Province of China under Grant BE2020704.
作者简介
Biao Ma received his B.S.degree in Aircraft Design and Engineering from the Nanjing University of Aeronautics and Astronautics(NUAA),Jiangsu,China,in 2020.He is currently pursuing his M.S.degree in Control Theory and Control Engineering from the NUAA.His current research interests include flight control and guidance;Corresponding author:Mou Chen received the B.S.degree in material science and engineering and Ph.D.degree in control theory and control engineering from the Nanjing University of Aeronautics and Astronautics(NUAA),Nanjing,China,in 1998 and 2004,respectively.He is currently a Full Professor with the College of Automation Engineering,NUAA.He was an Academic Visitor with the Department of Aeronautical and Automotive Engineering,Loughborough University,Loughborough,U.K.,from November 2007 to February 2008.From June 2008 to September 2009,he was a Research Fellow with the Department of Electrical and Computer Engineering,National University of Singapore,Singapore.He was a Senior Academic Visitor with the School of Electrical and Electronic Engineering,University of Adelaide,Adelaide,SA,Australia,in 2014 for six months.His current research interests include nonlinear system control,intelligent control,and flight control,email:chenmou@nuaa.edu.cn.
