欠驱动无人飞行器自适应轨迹跟踪与路径跟踪控制

项目名称： 欠驱动无人飞行器自适应轨迹跟踪与路径跟踪控制

项目编号： No.61203022

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 左宗玉

作者单位： 北京航空航天大学

项目金额： 25万元

中文摘要： 本项目以提高无人飞行器（UAV）跟踪性能和飞行品质为目标，探索适用于欠驱动UAV跟踪控制新方法，以欠驱动四旋翼无人直升机系统为具体研究对象，针对存在气动模型不确定、未知气流扰动以及控制受限等问题，研究相应的轨迹跟踪和路径跟踪控制设计原理和方法。主要内容包括：（1）含模型气动参数不确定和外界气流扰动未知的自适应轨迹跟踪控制；（2）基于Parallel-Transport坐标系的制导与控制融合路径跟踪控制；（3）基于修正罗格里德参数的嵌套饱和跟踪控制；（4）含幅值和速率限制的自适应指令滤波轨迹跟踪控制；（5）数值仿真与四旋翼无人直升机飞行实验验证。通过本项目的研究，不仅能够为四旋翼无人直升机提供有效的跟踪控制和饱和控制设计方法，也丰富了UAV飞行控制理论的研究，促进了非线性控制理论在实际中的应用，具有重要的科学意义和实用价值。

中文关键词： 轨迹跟踪；路径跟踪；控制受限；输出受限；自适应控制

英文摘要： The project is devoted to improving the tracking capability and flight performance of Unmanned Aerial Vehicles (UAV), and investigating new control methodologies suitable for underactuated UAV tracking control.In view of the aerodynamic model uncertainties, unknown external air disturbances and control constraints, this project takes the underactuated quadrotor helicopter system as a controlled plant to study the corresponding trajectory tracking and path following control design principle and method, including (1) adaptive trajectory tracking control with aerodynamic model uncertainty and unknown external air disturbance, (2) guidance integrated path following control based on Parallel-Transport frame, (3) modified Rodrigues parameter based nested saturation tracking control, (4) adaptive command filtered trajectory tracking control with magnitude and rate constraint, as well as (5) numerical simulation and real-time flight experiment of an unmanned Quadrotor helicopter. Viathework supported by this project, it will provide several effectivetraking and saturation control design methodolies for the unmanned quadrotor helicopter, and therefore willpromote the research of the UAV flight control theory and theapplication of the nonlinear control theory in practice.

英文关键词： Trajectory Tracking；Path-following；Control Constraint；Output Constraint；Adaptive Control