反步控制在无人机三维轨迹控制中的应用及性能评价

IF 0.4 4区工程技术 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC

Electrical Engineering in Japan Pub Date : 2025-01-06 DOI:10.1002/eej.23502

Yuya Meguro, Shiro Masuda, Mitsuru Toyoda

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引用次数: 0

摘要

研究了基于三维目标轨迹的无人机控制器设计，提出了一种考虑跟踪误差积分的后阶控制器。在情境和实验环境下进行了性能评估，并与传统的退步控制和比例-积分-微分控制进行了比较，说明了该方案的优势。实验结果表明，利用跟踪误差的积分可以减小稳态误差。此外，他们还通过实验证明，引入参考模型可以提高给定目标轨迹的跟踪性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Application and Performance Evaluation of Backstepping Control for Drone 3D Trajectory Control

This paper addresses drone controller design with 3D target trajectory and presents a backstepping-based controller taking into consideration the integral of tracking error. Performance evaluation is performed in situational and experimental environments, and the advantage of the proposed scheme is illustrated in the comparison with the conventional backstepping and the Proportional-Integral-Differential control. The experiment results show that the proposed scheme exploiting the integral of tracking error can reduce steady-state error. Furthermore, they show that introducing a reference model experimentally improves the tracking performance for a given target trajectory.

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来源期刊

Electrical Engineering in Japan 工程技术-工程：电子与电气

CiteScore

0.80

自引率

0.00%

发文量

审稿时长

4-8 weeks

期刊介绍： Electrical Engineering in Japan (EEJ) is an official journal of the Institute of Electrical Engineers of Japan (IEEJ). This authoritative journal is a translation of the Transactions of the Institute of Electrical Engineers of Japan. It publishes 16 issues a year on original research findings in Electrical Engineering with special focus on the science, technology and applications of electric power, such as power generation, transmission and conversion, electric railways (including magnetic levitation devices), motors, switching, power economics.