English

应用科学学报 ›› 2012, Vol. 30 ›› Issue (4): 415-422.doi: 10.3969/j.issn.0255-8297.2012.04.014

• 控制与系统 • 上一篇    下一篇

基于四元数的四旋翼无人飞行器轨迹跟踪控制

李光春， 王璐， 王兆龙， 许德新   

  1. 哈尔滨工程大学自动化学院，哈尔滨150001
  • 收稿日期:2011-05-24 修回日期:2011-12-06 出版日期:2012-07-23 发布日期:2012-07-30
  • 作者简介:李光春，研究员，研究方向：稳定回路控制技术、初始对准技术，E-mail：lgc_67@163.com
  • 基金资助:

    中央高校基础业务费基金(No.HEUCF041210)；对俄国际合作项目基金(No.2010DFR80140)资助

Trajectory Tracking Control of Quad-rotor UAV Based on Quaternion

LI Guang-chun, WANG Lu, WANG Zhao-long, XU De-xin   

  1. College of Automation, Harbin Engineering University, Harbin 150001, China
  • Received:2011-05-24 Revised:2011-12-06 Online:2012-07-23 Published:2012-07-30

PDF

2224

被引次数

14

摘要：

 四旋翼无人飞行器具有复杂的数学模型，但现有控制方法大多是基于系统简化模型提出的. 为此，该文分析了这类方法的局限性，并基于原始数学模型研究了非线性轨迹跟踪控制问题. 通过期望轨迹建立跟踪误差模型，将其分解为两个相互独立的子系统，并以刚体旋转的四元数为系统状态对姿态子系统进行描述. 利用backstepping 方法设计时变反馈控制律使其子系统指数稳定. 根据级联系统的全局稳定性判据，通过研究耦合部分的性质证明系统的全局指数稳定性. 仿真结果表明，该方法能够实现四旋翼无人飞行器对期望轨迹的跟踪.

关键词: 四旋翼无人飞行器, 轨迹跟踪控制, 四元数, backstepping 方法, 非完整系统, 级联系统

Abstract:

Because a complete mathematical model of a quadrotor is complicated, the controller design is
usually based on a simplified model. In this paper, we analyze the limitation of such simplification, and consider
nonlinear trajectory tracking control based on its original model. A tracking error control system consisting
of two independent subsystems is established to track the expected trajectory. The attitude subsystem is
described using the quaternion of rigid body’s rotation as the system state. A backstepping based approach is
proposed to stabilize the subsystems exponentially. Based on the global stability criterion of cascade systems
and analysis of the properties of coupled parts, globally exponential stability of the system is proved. Simulation
results show that the proposed method enables the quadrotor to track a trajectory.

Key words:  quad-rotor UAV, trajectory tracking control, quaternion, backstepping approach, nonholonomic system, cascade system

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