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四旋翼飞行器全局动态鲁棒性跟踪控制

Keywords: 四旋翼飞行器,轨迹跟踪,预测控制,滑模控制

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Abstract:

针对带有模型参数不确定和风微扰状况的四旋翼飞行器轨迹跟踪问题,提出了一种全局动态鲁棒性控制策略.基于牛顿-欧拉形式化方法解耦得到飞行器直线运动部分和旋转姿态控制部分.设计了模型预测控制器来实现直线运动部分的动态实时控制.并在模型参数不确定和风微扰情况下,为了稳定四旋翼飞行器的旋转姿态行为和直线运动,引入全局鲁棒滑模控制方法.仿真结果表明,设计的全局动态鲁棒控制策略具有实时快速稳定的跟踪效果.

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