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未知風(fēng)場(chǎng)擾動(dòng)下無(wú)人機(jī)三維航跡跟蹤魯棒最優(yōu)控制

張坤,  高曉光

張坤, 高曉光. 未知風(fēng)場(chǎng)擾動(dòng)下無(wú)人機(jī)三維航跡跟蹤魯棒最優(yōu)控制[J]. 電子與信息學(xué)報(bào), 2015, 37(12): 3009-3015. doi: 10.11999/JEIT150047
引用本文: 張坤, 高曉光. 未知風(fēng)場(chǎng)擾動(dòng)下無(wú)人機(jī)三維航跡跟蹤魯棒最優(yōu)控制[J]. 電子與信息學(xué)報(bào), 2015, 37(12): 3009-3015. doi: 10.11999/JEIT150047
Zhang Kun, Gao Xiao-guang. Robust Optimal Control for Unmanned Aerial Vehicles Three-dimensional Trajectory Tracking in Wind Disturbance[J]. Journal of Electronics & Information Technology, 2015, 37(12): 3009-3015. doi: 10.11999/JEIT150047
Citation: Zhang Kun, Gao Xiao-guang. Robust Optimal Control for Unmanned Aerial Vehicles Three-dimensional Trajectory Tracking in Wind Disturbance[J]. Journal of Electronics & Information Technology, 2015, 37(12): 3009-3015. doi: 10.11999/JEIT150047

未知風(fēng)場(chǎng)擾動(dòng)下無(wú)人機(jī)三維航跡跟蹤魯棒最優(yōu)控制

doi: 10.11999/JEIT150047 cstr: 32379.14.JEIT150047
基金項(xiàng)目: 

國(guó)家自然科學(xué)基金(60774064)和教育部博士點(diǎn)基金(20116102110026)

Robust Optimal Control for Unmanned Aerial Vehicles Three-dimensional Trajectory Tracking in Wind Disturbance

Funds: 

The National Natural Science Foundation of China (60774064)

  • 摘要: 該文提出一種未知風(fēng)場(chǎng)擾動(dòng)下無(wú)人機(jī)精確3維航路跟蹤的魯棒最優(yōu)控制律。該控制律基于跟蹤虛擬目標(biāo)的思想，將風(fēng)場(chǎng)擾動(dòng)加入無(wú)人機(jī)運(yùn)動(dòng)方程，采用反饋線性化將無(wú)人機(jī)的非線性動(dòng)力學(xué)方程變換為線性狀態(tài)方程。假設(shè)風(fēng)場(chǎng)擾動(dòng)已知的條件下，采用線性二次型調(diào)節(jié)器推導(dǎo)出能夠跟蹤3維航路的最優(yōu)控制律。進(jìn)一步考慮未知的風(fēng)場(chǎng)擾動(dòng)，設(shè)計(jì)魯棒控制項(xiàng)代替最優(yōu)控制律中的風(fēng)場(chǎng)參數(shù)，得到能夠抑制未知有界風(fēng)場(chǎng)干擾的魯棒最優(yōu)控制律，并采用Lyapunov穩(wěn)定性理論證明該閉環(huán)系統(tǒng)的全局漸近穩(wěn)定性。仿真表明該控制律能夠?qū)崿F(xiàn)在未知風(fēng)場(chǎng)擾動(dòng)下無(wú)人機(jī)精確3維航跡跟蹤，且具有良好的跟蹤性能。
    Abstract: This paper presents a robust optimal guidance control law for precise three-dimensional (3D) trajectory tracking of an Unmanned Aerial Vehicle (UAV) in wind disturbance. The wind disturbance is considered in the UAVs kinematic model. The reference path is considered as a trajectory of a virtual target. Feedback linearization is used to transform the nonlinear dynamics of the UAV to linear state equations. Based on the assumption that the wind disturbance can be known precisely, an optimal control law is derived for the UAV's 3D trajectory tracking using the LQR (Linear Quadratic Regulator). Then considering the unknown wind disturbance, a robust term is designed to replace the unknown wind disturbance, and a robust optimal control law is obtained. Global asymptotic stability of the closed-loop system is proved by Lyapunov stability theory. Simulations show that the proposed control law can achieve precise 3D UAV trajectory tracking with wind disturbance attenuation, and has good tracking performance.
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出版歷程
  • 收稿日期:  2015-01-07
  • 修回日期:  2015-08-02
  • 刊出日期:  2015-12-19

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