摘要
针对无人直升机在飞行过程中面临的状态受限和执行器饱和等多约束问题,本研究结合时变障碍Lyapunov函数技术和辅助系统方法提出了一种抗饱和安全飞行控制策略。首先,对状态约束进行分析并建立了包含输入饱和的无人直升机非线性系统模型;其次,针对输入饱和问题,采用饱和误差构造辅助系统,并将辅助系统的输出变量反馈到控制器中以提高系统的抗饱和能力,同时针对状态约束问题,引入时变障碍Lyapunov函数对其进行处理,保证飞行状态在预设的安全约束范围内变化;最后,在反步控制技术的框架下,设计了同时存在时变状态约束和输入饱和的无人直升机跟踪飞行控制方案,并结合Lyapunov稳定性理论证明了整个闭环系统误差的有界稳定性。通过仿真验证并与传统PID控制方法相对比,验证了本文所提出控制算法的有效性和优越性。研究结果表明:所提出的控制算法不仅能够确保无人直升机的飞行状态在合理且安全的范围内变化,而且提高了整个飞控系统的抗饱和能力。
For the multi-constraints problem of the unmanned helicopter under state constraint and actuator saturation,an anti-saturation safe flight control strategy was proposed based on the time-varying barrier Lyapunov function and auxiliary system method.Firstly,the state constraint was analyzed and the nonlinear system model of unmanned helicopter with input saturation was established.Secondly,in order to deal with the input saturation,the auxiliary system was constructed by means of the saturation error and the auxiliary variable was fed back to the designed controller to improve the anti-saturation capability of the system.Meanwhile,the time-varying barrier Lyapunov function was introduced to solve the problem of time-varying state constraint,which can guarantee that the flight states of the unmanned helicopter change within the security constraint.Finally,in the framework of backstepping control technique,a tracking flight control scheme was developed for the unmanned helicopter under time-varying state constraint and actuator saturation.All error signals of the whole closed-loop system were proved to be bounded via Lyapunov stability theory.From the simulation comparison with the traditional PID control method,the effectiveness and superiority of the proposed control algorithm were demonstrated.The results show that the presented control algorithm can not only make the flight states of the unmanned helicopter change within a reasonable range,but also improve the anti-saturation capability of the flight control system.
作者
阎坤
赵金泽
高嵩
曹凯
万敏
YAN Kun;ZHAO Jinze;GAO Song;CAO Kai;WAN Min(College of Electronic Information Engineering,Xi'an Technological University,Xi'an 710021,China;College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)
出处
《中南大学学报(自然科学版)》
北大核心
2025年第1期100-110,共11页
Journal of Central South University:Science and Technology
基金
国家自然科学基金资助项目(62103315,62303367)
航空科学基金资助项目(2022Z034052002)
教育部“春晖计划”合作科研项目(HZKY20220523)
陕西省科技厅重点研发计划项目(2023-ZDLNY-61)
2023年陕西高校青年创新团队项目
空间智能控制技术全国重点实验室基金资助项目(HTKJ2024KL502021)
信息融合技术教育部重点实验室基金资助项目(202312-IFTKFKT-007)。
作者简介
通信作者:高嵩,教授,博士研究生导师,从事自主智能无人系统控制研究,E-mail:gaos@xatu.edu.cn。
