A position control and obstacle avoidance method for quadrotor via approach based on passivity and artificial potential filed

被引：0

作者：

Wang Y. ^{[1
]}

Ye H. ^{[1
]}

Yang X. ^{[1
]}

机构：

[1] School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang

来源：

Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2023年 / 44卷

基金：

中国国家自然科学基金;

关键词：

artificial potential field; fixed-point tracking; obstacle avoidance; passivity control; quadrotor UAV;

D O I：

10.7527/S1000-6893.2022.27492

中图分类号：

学科分类号：

摘要：

A control strategy combining the passive control theory and the artificial potential field method is proposed for the quadrotor UAV to solve the problem of position control and obstacle avoidance. This method divides the whole control system into two parts：the outer loop position controller and the inner loop attitude controller. In the design of the outer loop controller，the passivity theory of the cascade system is adopted，and the appropriate potential field function is selected as the storage function to solve the problem of obstacle avoidance in the process of fixed-point tracking. In the design of inner loop controller，quaternion is used to describe the attitude dynamics of the quadrotor UAV，and the inner loop controller is designed based on the Lyapunov function. Furthermore，the interconnection structure of the passive position subsystem and the attitude subsystem is constructed to ensure the stability of the whole closed-loop system. Finally，the simulation results verify the effectiveness and control performance of the proposed control strategy. © 2023 AAAS Press of Chinese Society of Aeronautics and Astronautics. All rights reserved.

引用

共 25 条

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