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基于积分反步法的四旋翼飞行器控制设计
Authors
吴美平
唐康华
王雪莹
郭妍
Publication date
1 June 2019
Publisher
POSTS&TELECOM PRESS Co., LTD
Abstract
针对目前利用反步法设计控制律模型复杂且工程难以实现的问题,提出一种基于积分反步法的四旋翼飞行器控制律设计方法。该方法利用基于李雅普诺夫稳定性理论的反步法控制技术,实现了飞行器位置和姿态的有效跟踪控制,保证了四旋翼飞行控制器的稳定性;进一步分析飞行器模型特性,提出在对姿态控制的反步法设计中加入积分项,并通过设置适当的积分项常数来简化控制律模型,增强控制算法的实用性。仿真实验结果表明,该控制器能够无误差地实现姿态跟踪、定点到达和轨迹跟踪
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Last time updated on 26/01/2023