六旋翼无人机非线性鲁棒姿态控制研究

2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2018-05-01 DOI:10.1109/YAC.2018.8406370

Bo Zhao, D. Yue

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引用次数: 1

摘要

针对六旋翼无人机，提出了一种新的非线性鲁棒控制器。飞行器姿态动力学模型受到系统参数不确定性和未知时变外部干扰的影响。利用基于李雅普诺夫的稳定性定理，证明了闭环姿态系统在跟踪时变参考轨迹时具有指数稳定性。给出了详细的数值仿真结果，验证了控制策略的控制性能和有效性。

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Nonlinear robust attitude control development for a hexarotor unmanned aerial vehicle

This paper proposes a novel nonlinear robust controller for a hexarotor unmanned aerial vehicle (UAV). The aircraft's attitude dynamic model is subject to system parametric uncertainties and unknown time-varying external disturbances. By utilizing the Lyapunov based stability theorem, the closed-loop attitude system is proved to be exponentially stable in tracking time-varying reference trajectories. Detailed numerical simulation results are provided to validate the control performance and effectiveness of the control strategy.

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2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)

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