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 廖卫中,宗群,马亚丽 控制理论与应用 , 2015, DOI: 10.7641/CTA.2015.50419 Abstract: 本文首先介绍了一种小型四旋翼无人机的设计过程, 从机架设计、动力匹配、机载控制器、传感器、无线通 信等多个方面进行了较为详尽的阐述. 采用牛顿―欧拉法对四旋翼无人机进行动力学分析, 完成了六自由度数学 模型的推导. 进一步对系统的模型参数进行了测量和计算, 并给出了结果. 在此基础上, 为了满足无人机快速跟踪 性能的要求, 本文基于快速终端滑模的思想, 进行了闭环控制器的设计, 并给出了基于Lyapunov函数的稳定性证明. 控制器采用分环控制的结构形式, 内环为姿态控制, 外环为位置控制. 最后结合设计的四旋翼无人机, 给出的仿真结 果验证了控制算法的有效性.We start by giving the detailed design process for a quad-rotor mini unmanned aerial vehicle, including the airframe design, propulsion system, autopilot, sensors and wireless communication. By using Newton-Euler’s laws, we analyze the dynamics of such an aerial vehicle to derive for it a 6-degrees mathematical model with parameter values measured and calculated. To meet the requirement on fast tracking performance, we develop a closed-loop control system based on the concept of fast terminal sliding-mode control, and prove its stability by using Lyapunov function. This control system is composed of two nested control loops: the inner loop for the attitude control and the outer loop for the position control. Simulation results show that the proposed method can provide robustness and good tracking performance for the designed quad-rotor mini unmanned aerial vehicle.
 孙妙平,刘静静,年晓红,王海波 控制理论与应用 , 2017, DOI: 10.7641/CTA.2017.60559 Abstract: 针对飞行环境不断变化的四旋翼无人机轨迹跟踪问题, 提出了基于区间矩阵的鲁棒跟踪控制策略. 首先, 将四旋翼无人机非线性动态模型解耦为外环位置控制系统和内环角度控制系统. 接着, 考虑到飞行环境变化引起的升力系数、 中高速飞行下不可忽略的阻力系数等参数的不确定性, 引入区间矩阵对内外环系统的系统参数进行描述, 并对内外环控制系统设计鲁棒 H∞反馈控制策略来抑制有界外部扰动. 然后, 根据李雅普诺夫稳定性定理得到了使外环系统指数渐近稳定和内环系统鲁棒渐近稳定且均满足 H∞性能指标的LMI 充分条件,同时, 给出了控制器增益的求解方法. 最后, 仿真及实验结果结果验证了所提方法的鲁棒性,优越性和有效性.In this paper,the robust tracking control strategies for a quad-rotor unmanned aerial vehicle (UAV) with changing flight environment are put forward based on the interval matrix. Firstly, the nonlinear dynamic model of the quad-rotor UAV is decoupled into the inner loop attitude control system and the outer loop position control system. Next, taking into account the change of the lift coefficient and non-negligible drag coefficient in medium and high speed which is caused by the changing flight environment, the interval matrix is introduced to describe the system parameters of the inter and outer loop system and the robust H∞ feedback control methods are designed to reject the bounded disturbance in the closed inner-outer loop system. Then, according to Lyapunov stability theory, the LMI-based sufficient conditions of exponential asymptotic stability for outer-loop control system and robust asymptotic stability for inter-loop control system are derived. At the same time, the H∞ performance indexes are both satisfied. Meanwhile, the gain matrices of controller are presented. Finally, the effectiveness, advantages and robustness of the proposed method are verified by simulation and experimental results.