摘要
针对多架四旋翼无人机编队轨迹跟踪问题,提出了一种基于自适应预定时间反步控制的无人机编队策略。首先,设计预定时间滑模估计器估计无人机状态,得出期望位置信息;其次,根据无人机动力学模型,设计预定时间反步控制器,将期望位置信息作为控制器的输入,实现预定时间内无人机轨迹跟踪;最后,设计自适应控制率,消除外界不确定性干扰的影响,得到预定时间内稳定的飞行轨迹。仿真结果表明,该策略具有良好的实用性。
In order to solve the problem of multi-quadrotor Unmanned Aerial Vehicle(UAV)formation trajectory tracking,a UAV sliding mode formation strategy based on predefined-time backstepping control is proposed.Firstly,a predefined-time sliding mode estimator is designed to estimate the relative state information of the pilot UAV and itself,and the expected position information is obtained.Secondly,a predefined-time backstepping controller is designed,with the designed position information serving as the impat to the controller,to achiver UAV trajectory tracking with a predefined time.Finally,the adaptive control rate is designed to eliminate the influence of external uncertainties and obtain a stable flight trajectory within the predefined time.The simulation results show that the proposed strategy has good practicability compared with the fixed-time control method.
作者
张翔
黄宜庆
ZHANG Xiang;HUANG Yiqing(School of Electrical Engineering,Anhui Engineering University,Wuhu,Anhui 241000,China)
出处
《上海电力大学学报》
2025年第2期162-171,181,共11页
Journal of Shanghai University of Electric Power
基金
安徽高校协同创新项目(GXXT-2020-069)。
关键词
编队轨迹跟踪
预定时间滑模估计器
期望位置信息
自适应预定时间反步控制
formation trajectory tracking
predefined-time sliding mode estimator
desired location information
adaptive predefined-time backstepping control
作者简介
通信作者:黄宜庆(1983-),男,博士,教授。主要研究方向为多智能体协同控制、线性变参数控制、切换控制等。E-mail:yiqhuang@ahpu.edu.cn。
