CAJ | 학술논문

四旋翼无人飞行器是一种典型的六自由度的非线性、强耦合、欠驱动系统。针对四旋翼无人飞行器Qball-X4受控模型的复杂非线性问题，从实际应用的角度出发，提出了一种在定点悬停情况下忽略偏航角变化的模型简化方法，有效地解决了内外环约束条件的求解问题，并基于此模型设计了一种基于反步法的渐近稳定控制器。仿真结果表明：所设计的控制器能有效地实现定点飞行，同时，也验证了所建立的简化模型的合理性。
사선익무인비행기시일충전형적륙자유도적비선성、강우합、흠구동계통。침대사선익무인비행기Qball-X4수공모형적복잡비선성문제，종실제응용적각도출발，제출료일충재정점현정정황하홀략편항각변화적모형간화방법，유효지해결료내외배약속조건적구해문제，병기우차모형설계료일충기우반보법적점근은정공제기。방진결과표명：소설계적공제기능유효지실현정점비행，동시，야험증료소건립적간화모형적합이성。
Quadrotor unmanned aerial vehicle (UAV) is a typically nonlinear, underactuated and highly-coupled dynamical system with six degree of freedom. According to the complex nonlinear problem of Qball-X4 UAV controllable model, a model simplification method is proposed by ignoring the influence of the angle change of yaw when aerial vehicle keeps hovering at a certain point , and the problem of the constraints between inner and outer loops is effectively solved. A asymptotically stable controller is also designed through the backstepping algorithm based on the model. Numerical simulations are provided to illustrate the effectiveness of the proposed method, si-multaneously, the rationality of the simplified model is also verified.