Design of landing trajectory tracking robust controller for carrier-based unmanned aerial vehicle

被引：2
|
作者：
Zhang Y. [1 ]
Wu W.-H. [1 ]
Hu Y.-A. [2 ]
Cheng C.-H. [1 ]
机构：
[1] Department of Control Engineering, Qingdao Branch, Naval Aeronautical University, Qingdao, 266041, Shandong
[2] Department of Control Engineering, Naval Aeronautical University, Yantai, 264001, Shandong
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2018年 / 35卷 / 04期
基金：
中国国家自然科学基金; 中国博士后科学基金;
关键词：
Carrier-based unmanned aerial vehicles; Constrained command; Longitudinal control; Prescribed performance; Trajectory tracking;
D O I：
10.7641/CTA.2017.70179
中图分类号：
学科分类号：
摘要：
The carrier-based unmanned aerial vehicle(UAV)should be required to track the trajectory accurately and ensured to have the transient performance during landing. And in this paper a constrained command prescribed control law based on a new equivalent error model is designed. Firstly, a constrained command filter method is introduced to consider the actual engineering problems such as rudder limited and angular rate limited. Secondly, the continuous hyperbolic tangent function is used to approximate the saturation function, and an adaptive law is used to estimate the unknown parameters with the modeling errors and a variety of environmental disturbance factors. Finally, the transient performance during landing is emphatically analyzed by introducing prescribed performance method. The strong robustness and better transient performance in complex environment is demonstrated by theoretical analysis and simulation. © 2018, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：557 / 565
页数：8
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