基于Lyapunov的六旋翼无人机姿态镇定控制技术的研究

系统仿真学报 ›› 2015, Vol. 27 ›› Issue (12): 3037-3043.

• 信息、控制、决策与仿真 • 上一篇下一篇

基于Lyapunov的六旋翼无人机姿态镇定控制技术的研究

袁学敏¹, 曹科才^1,2

1.南京邮电大学自动化学院,江苏南京 210023;
2.南京航空航天大学自动化工程学院,江苏南京 210016

收稿日期:2014-07-05 修回日期:2015-03-24 出版日期:2015-12-08 发布日期:2020-07-30
作者简介:袁学敏（1990-）,男,合肥,硕士生,研究方向为复杂系统及网络控制;曹科才（1978-）,男,山东,博士生,副教授,研究方向为多智能体系统理论及应用。

Attitude Control of VTOL Hexrotor Aircraft Based on Lyapunov Theory

Yuan Xuemin¹, Cao Kecai^1,2

1. Nanjing University of Posts and Telecommunications, Nanjing 210023, China;
2. Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2014-07-05 Revised:2015-03-24 Online:2015-12-08 Published:2020-07-30

摘要/Abstract

摘要： 基于每一个螺旋桨呈60°间隔分布的六旋翼无人机系统为研究对象,利用四元数法对其建模以克服欧拉角表示法中的奇异性,在科氏力矩和回转力矩的作用下,研究六旋翼无人机的姿态控制问题,设计得到了六旋翼无人机的姿态控制的渐进稳定控制律,实现了六旋翼无人机的姿态角和姿态角速度的渐近稳定。Matlab仿真研究验证了所提控制方法的有效性。

关键词: 六旋翼, 姿态控制, 四元数, 无人机

Abstract: The considered hexrotor is a symmetric VTOL-UAV with six rigid mono-directional propellers, and the interval between each propeller is 60°. In order to overcome the inherent geometric singularity of Euler angle description, quaternion representation was used to model. The effect of gyroscopic torques and reactive torques was taken into account when simplifying our model. An approach for hexrotor was proposed in which two nearly equivalent control laws were used to obtain asymptotic stability of attitude angles and attitude angular velocity of the hexrotor UAV. Simulation results emphasize the effectiveness of the proposed control scheme.

Key words: hexrotor, attitude control, quaternion, UAV

中图分类号:

TP391.9

袁学敏, 曹科才. 基于Lyapunov的六旋翼无人机姿态镇定控制技术的研究[J]. 系统仿真学报, 2015, 27(12): 3037-3043.

Yuan Xuemin, Cao Kecai. Attitude Control of VTOL Hexrotor Aircraft Based on Lyapunov Theory[J]. Journal of System Simulation, 2015, 27(12): 3037-3043.

参考文献

[1] D Mellinger, N Michael, V Kumar.Trajectory generation and control for precise aggressive maneuvers with quadrotor[J]. Int. J. Robot. Res (S0278-3649), 2012, 31(5): 1-11.
[2] V Gavrilets, E Frazzoli, B Mettle, et al. Aggressive maneuvering of small autonomous helicopters: A human-centered approach[J]. Int, J. Robot, 2001, 20(10): 795-807.
[3] Antonios Tsourdos, Brian White, Madhavan Shanmugavel. New York, USA: Wiley, 2011.
[4] Z Peng, G Wen, A Rahmani, et al. Leader-follower formation control of nonholonomic mobile robots based on a bioinspired neurodynamic based approach[J]. Robot. Autonom. Syst.(S0921-8890), 2013, 61(9): 988-996.
[5] S Bertrand, N Guenard, T Hamel, et al. A hierarchical controller for miniature VTOL UAVs: Design and stability analysis using singular perturbation theory[J]. Control Eng. Pract (S0967-0661), 2011, 19(10): 1099-1108.
[6] L Marconi, R Naldi.Control of aerial robots[J]. IEEE controlsyst mag.(S1066-033X), 2012, 32(4): 43-65.
[7] R Naldi, L Marconi.Modeling and control of the interaction between flying robots and the environment[C]// Proc, 8th IFAC Symp. Nonlinear Control System, Bologna, Italy, 2010.
[8] Liangliang Yin, Jingkui Shi, Yimin Huang.Modeling and Control for a Six-Rotor Aerial Vehicle[C]// IEEE Conference Publication. USA: IEEE, 2010: 1289-1292.
[9] Kaufman E, Caldwell K, Daewon Lee, et al. Design and development of a free-floating hexrotor UAV for 6-DOF maneuvers[C]// IEEE Conference Publication. USA: IEEE, 2014: 1-10.
[10] Chen Ujang B, Took C C, Mandic D P.Quaternion- Valued Nonlinear Adaptive Filtering[J]. IEEE Transactions(S1045-9227), 2011, 22(8): 1193-1206.
[11] A Tayebi, S McGilray, A Roberts, et al. Attitude estimation and stabilization of a rigid body using low-cost sensors[C]// Proc. of the 46th IEEE CDC, New Orleans, LA, USA, 2007. USA: IEEE, 2007.
[12] B Crowther, A Lanzon.An improved method for nonlinear model reduction using balancing of empirical gramians[J]. Journal of Guidance, Control, and Dynamics (S0731-5090), 2011, 34(6).
[13] P Pounds, R Mahony, P Hynes, et al. Design of a four-rotor aerial robot[C]// Proc. Australian Conf. Robotics and Automation, Auckland, Australia,2002.
[14] C Mayhew, R Sanfelice, A Teel.Quaternion based hybrid control for robust global attitude tracking[C]// IEEE Transactions on Automatic Control, 2011. USA: IEEE, 2011.
[15] N Chaturvedi, N McClamroch.Rigid-body attitude control[J]. IEEE Control Systems Magazine (S1066-033X), 2011, 31(3): 30-51.
[16] A Tayebi, S McGilvray.Attitude Stabilization of a VTOL Quadrotor Aircraft[J]. IEEE Transaction on Control Systems Technology (S1063-6536), 2006, 14(3): 562-571.

基于Lyapunov的六旋翼无人机姿态镇定控制技术的研究

Attitude Control of VTOL Hexrotor Aircraft Based on Lyapunov Theory

PDF (PC)

可视化

被引次数

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	陈麒, 崔昊杨. 基于改进鸽群层级的无人机集群视觉巡检模型[J]. 系统仿真学报, 2022, 34(6): 1275-1285.
[2]	张森, 张孟炎, 邵敬平, 普杰信. 基于随机策略搜索的多机三维路径规划方法[J]. 系统仿真学报, 2022, 34(6): 1286-1295.
[3]	叶澍, 吉晓东, 李文华. 全双工无人机中继系统物理层安全性能研究[J]. 系统仿真学报, 2022, 34(4): 788-796.
[4]	曾思劼, 晏良, 段晓君. 基于PCE方法的无人机轨迹规划与分析[J]. 系统仿真学报, 2022, 34(1): 145-152.
[5]	王宁, 代冀阳, 应进, 李叶鼎, 鲁亮亮. 基于自适应扩展势场的多无人机航迹规划仿真[J]. 系统仿真学报, 2021, 33(9): 2147-2156.
[6]	王泊涵, 吴婷钰, 李文浩, 黄达, 金博, 杨峰, 周爱民, 王祥丰. 基于多智能体强化学习的大规模无人机集群对抗[J]. 系统仿真学报, 2021, 33(8): 1739-1753.
[7]	赵柱, 王毅, 樊芮锋, 李丽亚, 祁蒙. 基于多主体NetLogo平台的反无人机OODA体系对抗建模[J]. 系统仿真学报, 2021, 33(8): 1791-1800.
[8]	李向阳, 张志利, 张宁, 桂毅, 李嘉. 局部信息联通的多无人机协同控制过程仿真研究[J]. 系统仿真学报, 2021, 33(7): 1501-1513.
[9]	魏瑞轩, 吴子沉. 无人机集群实时任务分配方法研究[J]. 系统仿真学报, 2021, 33(7): 1574-1581.
[10]	陈瑜洲, 李原, 王庆林, 张卿, 张津源. 无人机可见光侦察载荷视景仿真平台[J]. 系统仿真学报, 2021, 33(4): 910-917.
[11]	段婷, 王维平, 朱一凡, 王涛, 黄美根. 基于区块链智能合约的UAV集群访问控制机制[J]. 系统仿真学报, 2021, 33(11): 2656-2662.
[12]	叶帅, 蒋国平, 周映江, 刘尚. 基于事件触发的多无人机固定时间编队控制[J]. 系统仿真学报, 2021, 33(10): 2420-2431.
[13]	涂建刚, 徐成, 汪辉, 沈增辉. 无人机等效模拟高空侦察设备光学成像方法[J]. 系统仿真学报, 2021, 33(10): 2511-2517.
[14]	周楠, 王亮, 艾剑良. 基于反步法的矢量推力旋翼机建模及仿真研究[J]. 系统仿真学报, 2020, 32(6): 1117-1125.
[15]	章佳君, 钱晓超, 周金鹏, 王宣灵, 陆志沣. 基于仿真的无人机空袭沙特油田事件探索性分析[J]. 系统仿真学报, 2020, 32(6): 1195-1200.