四旋翼飞行器建模及位置跟踪控制(英文)

相对其他无人飞行器平台,四旋翼飞行器有其独特的优势,因而受到广泛的关注。位置跟踪控制对四旋翼飞行器的应用非常重要。在阐述四旋翼飞行器的飞行原理和操控机制的基础上,研究了其动力学模型,并提出了一种简化的数学模型。四旋翼飞行器是欠驱动耦合系统,为了实现系统解耦并得到清晰的控制回路,设计了多回路PID控制方案,其控制目标是位置和偏航角,而姿态角和横滚角由位置误差调节。最后,通过仿真验证了控制方法的有效性。     

Nonlinear adaptive control for quadrotor flying vehicle

In this work, we deal with autonomous tracking and disturbance rejection problem of quadrotor vehicle flying in uncertain environment. The vehicles kinematic and modeling error uncertainties are associated with external disturbance, inertia, mass, and nonlinear aerodynamic forces and moments. The proposed method integrate the techniques from adaptive control and robust control theory. Robust and adaptive control algorithms for translational and orientation tracking are derived using Lyapunov method. It is shown in our analysis that the altitude, position, and attitude tracking errors are bounded and their bounds asymptotically converge to zero in Lyapunov sense. Simulation results on a commercial quadrotor flying vehicle are given to demonstrate the effectiveness of theoretical arguments for real world application.     

Parameter design for a vibration absorber with time-delayed feedback control

Traditional passive vibration absorbers are effective only when their natural frequencies are close to those of the excitations. To solve this problem, a vibration absorber with time-delayed feedback control is proposed to suppress vibration of the primary system under excitation with changing frequency. Firstly, the mechanical model of the delay coupled system is established. Then, the displacement transfer ratio of the system is obtained. The stability of the system is analyzed since delay may result in destabilization. Next, in order to design the control parameters, the vibration absorption performances of the proposed time-delayed vibration absorber are studied. The vibration absorption region is shown. The results show that time-delayed feedback control is able to change the response of the system. The effective vibration absorption frequency band is adjustable by tuning the control gain and time delay. The effective frequency band can be widened when choosing appropriate control parameters. The vibration absorption performances can be greatly improved by the time-delayed absorber. In addition, the optimum control parameters are obtained. Finally, the experimental prototype is constructed. Several tests with different control parameters are taken. The experimental and analytical results match quite well.     

Distributed cooperative control for multiple quadrotor systems via dynamic surface control

This paper addresses the cooperative control problems of multiple quadrotor systems under fixed directed communication topologies. Dynamic surface control (DSC) is utilized to design nonlinear consensus controllers to make multiple quadrotors construct and keep a formation during flying. The control scheme is distributed so that each quadrotor updates the values of its information states based on the information states of its neighbors and its own states. Moreover, the leader–follower case is also discussed. In this case, distributed continuous schemes are also proposed with distributed sliding-mode observers, whose function is to estimate two linear combinations of the leader’s velocity and acceleration accurately in finite time. Finally, the effectiveness of the theoretical results is demonstrated via two examples.     

四旋翼飞行器分散PID神经元网络控制

针对四旋翼飞行器的非线性控制问题,提出了一种分散PID神经元网络(PIDNN)控制方法。首先通过牛顿—欧拉方程建立了四旋翼飞行器的动力学模型。其次,提出了一种嵌套控制器,内环基于分散PIDNN方法以实现姿态控制,外环采用经典的PID控制方法,PIDNN控制器的在线学习通过误差反向传播法实现。搭建了自主研制的四旋翼飞行器系统,并通过实验的方式研究了控制器的控制性能。实验结果表明控制器具有较强的控制稳定性、机动性和鲁棒性。     

Geometric finite-time inner-outer loop trajectory tracking control strategy for quadrotor slung-load transportation

Nonlinear Dynamics - This paper presents a geometric finite-time inner-outer loop control strategy for slung payload transportation using a quadrotor. The underactuated nature of the quadrotor in...     

Adaptive and robust control of quadrotor aircrafts with input saturation

In this paper, a damped harmonic oscillator with multiple delays is investigated. The existence conditions under which the origin of the system is a Bogdanov–Takens (B–T) singularity are derived. By utilizing the center manifold reduction and choosing suitable bifurcation parameters, the second- and the third-order normal forms of the B–T bifurcation for the system are obtained. Finally, numerical simulations are presented to illustrate the theoretical criteria.     

基于指数收敛的四旋翼无人机鲁棒自适应飞行控制

针对四旋翼无人机鲁棒自适应飞行问题,提出了一种基于指数收敛的控制方法。考虑到四旋翼系统的欠驱动、强耦合等非线性特性,采用线性化反馈控制策略实现对其轨迹追踪飞行能力的基本控制;针对线性化反馈控制易受系统内外部未知干扰等影响,采用基于指数收敛干扰观测器组合控制设计,实现四旋翼飞行的鲁棒与自适应控制;线性反馈及状态观测器控制系统基于指数收敛稳定。进行了仿真分析,结果表明,干扰观测器对四旋翼系统中存在的未知干扰具有很好的估计能力,所设计的基于指数收敛控制系统,结构简单,且具有较强的干扰抑制能力和较高的系统稳定性,满足四旋翼无人机的鲁棒及自适应飞行能力要求。     

Nonlinear adaptive fault-tolerant control for a quadrotor UAV based on immersion and invariance methodology

Nonlinear Dynamics - This paper presents a new fault-tolerant controller based on an immersion and invariance (I&I) observer to deal with the partial loss of actuator’s effectiveness...     

A multilayer neural dynamic controller design method of quadrotor UAV for completing time-varying tasks

Nonlinear Dynamics - In order to track the time-varying trajectory efficiently and accurately, a multilayer neural dynamic controller is proposed and exploited for quadrotor unmanned aerial...     

Tracking differentiator and extended state observer-based nonsingular fast terminal sliding mode attitude control for a quadrotor

Nonlinear Dynamics - The attitude control problem is addressed for a quadrotor system subject to the modeling uncertainties and unknown disturbances. A novel attitude control scheme is proposed...     

High-order sliding mode observer-based trajectory tracking control for a quadrotor UAV with uncertain dynamics

Nonlinear Dynamics - This paper investigates the trajectory tracking problem of the quadrotor unmanned aerial vehicles (UAV) with consideration of both attitude and position dynamics. First of all,...     

Fixed-time disturbance observer-based robust fault-tolerant tracking control for uncertain quadrotor UAV subject to input delay

Nonlinear Dynamics - This study focuses on the design of a fixed-time disturbance observer-based robust fault-tolerant tracking control scheme for an uncertain quadrotor unmanned aerial vehicle...     

Semi-active stabilisation of a pipe conveying fluid using eddy-current dampers: state-feedback control design,experimental validation

An application of electromagnetic devices of the motional type (i.e. eddy-current dampers) to improve the dynamic stability of a cantilever pipe discharging fluid is proposed. When the flow velocity reaches a critical value, this system loses stability through the flutter. A contactless damping device is used. This actuator is made of a conducting plate attached to the pipe that moves together with it within the perpendicular magnetic field that is generated by the controlled electromagnets. During the motion the eddy currents in the plate and a resultant drag force of a viscous character are generated. First, an optimal control problem that aims to stabilise the system with the optimal rate of decrease of the system’s energy is posed and solved. Then a state-feedback parametrization of the obtained optimal control, which can be used in a closed-loop scheme is proposed. The effectiveness of the designed optimal controller is validated by making a comparison with the corresponding passive solutions on the specially designed and constructed experimental test stand of a pipe conveying air.

     

基于浸入与不变原理的四旋翼姿态系统反步滑模控制

针对较大幅度外部不确定扰动下的四旋翼姿态稳定问题,设计了一种基于浸入与不变原理(ⅠⅠ)的自适应反步滑模控制器(ABSMC)。首先建立了未知大扰动下四旋翼姿态系统动力学模型,然后以横滚角子系统搭建为例,设计并应用了反步法和基于趋进率的滑模控制策略。在扰动估计误差流型设计中,融合了ⅠⅠ原理,即自适应率的选取实现了误差流型的不变和吸引,确保估计误差收敛到0。最后,对系统进行了稳定性分析和数字仿真。结果表明,在较大未知扰动情况下,融合ⅠⅠ原理方法后,经10 s所测跟踪误差平方的累加和仅为传统ABSMC方法的11.2%,控制精度大幅提高。