多旋翼无人飞行器大机动轨迹跟踪飞行非线性鲁棒控制

项目名称： 多旋翼无人飞行器大机动轨迹跟踪飞行非线性鲁棒控制

项目编号： No.61503012

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 刘昊

作者单位： 北京航空航天大学

项目金额： 21万元

中文摘要： 多旋翼无人飞行器具有灵活性高、隐蔽性强、可垂直起降及悬停、制造成本低等特点，在民用和军用领域具有广泛的应用前景。该类飞行器具有耦合程度高、参数不确定性大、抗外界干扰能力差等特点，其控制器设计具有很大的挑战性。本项目拟研究多旋翼无人机大机动飞行时的鲁棒控制问题。. 针对这类无人机，本研究拟首先提出一种基于四元数的鲁棒姿态控制方法，使无人直升机能精确实现对大姿态角参考信号的跟踪，并可以抑制多种不确定性对于闭环控制系统的影响。同时，采用四元数代替欧拉角来描述其旋转运动以避免解的奇异性。其次，本项目拟引入反馈线性化技术并提出一种非线性鲁棒轨迹跟踪控制方法，以减轻非线性和耦合动态对于闭环控制系统的影响，从而降低鲁棒控制器设计的保守性。研究工作将围绕动态系统分析、鲁棒控制器设计、实验验证等环节展开。本项目的研究成果将为多旋翼无人机大机动飞行的工程实践提供理论基础。

中文关键词： 多旋翼直升机；鲁棒控制；非线性控制；非线性系统

英文摘要： Multi-rotor unmanned aerial vehicles (MUAVs) possess the characteristics of great flexibility, good imperceptibility, and abilities of vertical taking off and landing, as well as low production costs, therefore they are widely used in numerous civil and military fields. MUAVs involve strong couplings, large parametric uncertainties, and less anti-interference ability, which pose a challenge for their controller design. This project investigates the robust control problems for the MUAVs under aggressive maneuvers. . In this project, a quaternion-based robust attitude control method will be firstly proposed for the MUAVs to track large attitude references accurately and restrain the effects of multiple uncertainties on the closed-loop control system. Besides, quaternion-based attitude representations will be used instead of the Euler angle based representations to avoid the singularity problems. Then, the feedback linearization technique will be introduced and a nonlinear robust trajectory tracking control approach will be proposed for MUAVs under aggressive maneuvers to reduce the influences of nonlinearity and coupling dynamics on the closed-loop control system and thereby reduce the conservation of the robust controller design. This project includes dynamical system analysis, robust controller design, and experimental verification. The project provides the theoretical basis for MUAVs under aggressive maneuvers in engineering practice.

英文关键词： Multi-rotor Helicopters;Robust Control;Nonlinear Control;Nonlinear Systems