CAJ | 학술논문

本文采用在线参数辨识与反馈控制相结合的方法，针对具有欠驱动特性的四旋翼无人飞行器，设计了一种非线性自适应镇定控制器，并且在进行控制器设计时，考虑到了飞行器转动惯量，空气阻尼，以及其他系统参数的不确定性。利用Lyapunov稳定性分析方法理论证明了四旋翼无人飞行器的镇定误差最终趋于零。仿真结果进一步验证了文中所提出的控制器具有良好的镇定效果。
본문채용재선삼수변식여반궤공제상결합적방법，침대구유흠구동특성적사선익무인비행기，설계료일충비선성자괄응진정공제기，병차재진행공제기설계시，고필도료비행기전동관량，공기조니，이급기타계통삼수적불학정성。이용Lyapunov은정성분석방법이론증명료사선익무인비행기적진정오차최종추우령。방진결과진일보험증료문중소제출적공제기구유량호적진정효과。
In this paper, a nonlinear adaptive regulation controller is presented for a class of underactuated quadrotor unmanned aerial vehicle (UAV). The vehicle’s dynamics is sub ject to modeling impression associated with the inertia matrix, aerodynamic damping coefficients, and some other system parameters. The on-line parameter estimation scheme is combined with feedback control to develop the adaptive control laws. Lyapunov based approaches are utilized to prove that the quadrotor UAV’s position and yaw angle regulation errors are ultimately driven to zero under parametric uncertainties. Simulation results are included to demonstrate the performance of the control strategy.