基于反步法和非线性动态逆的无人机三维航路跟踪制导控制
Three-dimensional Path tracking Guidance and Control for Unmanned Aerial Vehicle Based on Back-stepping and Nonlinear Dynamic Inversion
查看参考文献16篇
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文摘
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为实现无人机在大范围内稳定、精确地跟踪三维参考航路,基于制导与控制回路独立设计的思路,提出了一种无人机三维航路跟踪制导控制方法。在制导外环,引入沿参考航路飞行的虚拟无人机作为向导并利用反步法设计三维航路跟踪的非线性制导律;在控制内环,以非线性动态逆理论和奇异摄动理论为基础,设计由机动指令生成器、角度转换器、慢回路姿态控制器和快回路角速度控制器所组成的飞行控制模块,对制导外环给出的制导指令进行快速精确地跟踪。基于Lyapunov稳定性理论证明了无人机航路跟踪制导控制方法的稳定性。通过对比分析无人机6自由度模型下的三维航路跟踪仿真,说明所提出的制导控制方法能够使得无人机精确地跟踪参考航路,从而验证了该方法的有效性、合理性。 |
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其他语种文摘
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In order to realize the three-dimensional path tracking guidance and control for unmanned aerial vehicle (UAV),a new path tracking guidance and control method is presented,which separates the vehicle guidance and control problems into an outer guidance loop and an inner control loop. In outer guidance loop,the problem of tracking reference path is transformed to the tracking of a virtual vehicle by using a virtual vehicle which moves along the reference path for the real aircraft to track. A nonlinear guidance law is proposed based on the back-stepping method. In inner control loop,the flight control is designed based on the nonlinear dynamic inversion (NDI) theory and the time scale separation (TSS) .The flight control can follow the commands generated by the outer guidance loop fleetly and accurately,which includes maneuver command generator,angle calculator,slow loop attitude angles control and fast loop attitude angle rate control. The stability of system is proved based on Lyapunov stability theory. Six degrees of freedom (6-DOF) simulation results illustrate that UAV can track three-dimensional path accurately,and demonstrate the feasibility and reasonability of the proposed method. |
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来源
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兵工学报
,2014,35(12):2030-2040 【核心库】
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DOI
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10.3969/j.issn.1000-1093.2014.12.015
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关键词
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飞行器控制、导航技术
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无人机
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航路跟踪
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反步法
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非线性动态逆
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制导控制
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地址
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1.
西北工业大学电子信息学院, 陕西, 西安, 710129
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航空电子综合技术国防科技重点实验室, 航空电子综合技术国防科技重点实验室, 上海, 200233
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语种
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中文 |
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文献类型
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研究性论文 |
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ISSN
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1000-1093 |
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学科
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航空 |
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基金
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中国航空科学基金
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航空电子系统综合技术重点实验室基金联合项目
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国家教育部高等学校博士学科点专项科研基金
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文献收藏号
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CSCD:5321334
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