| 基于反步法的无人翼伞航迹跟踪控制 |
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| 引用本文： | 张昊,陈自力,蔚建斌,程欣. 基于反步法的无人翼伞航迹跟踪控制[J]. 火力与指挥控制, 2017, 42(9). DOI: 10.3969/j.issn.1002-0640.2017.09.019 |
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| 作者姓名： | 张昊 陈自力 蔚建斌 程欣 |
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| 作者单位： | 1. 解放军69250部队,乌鲁木齐,830000;2. 军械工程学院,石家庄,050003;3. 北方自动控制技术研究所,太原,030006 |
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| 基金项目： | 国家自然科学基金，军队院校创新工程基金资助项目 |
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| 摘 要： | 为实现无人翼伞飞行器的直线航迹跟踪控制,提出了一种基于模拟对象的可变增益反步跟踪控制方法。基于模拟对象方法得到翼伞飞行器的航迹跟踪误差模型,并针对该模型设计了可变增益反步跟踪控制律,在保证稳定性的同时提高了系统的跟踪精度。将控制器应用于无人翼伞飞行器平面航迹跟踪控制中,仿真实验表明,所设计的控制器可以实现航迹的精确跟踪,且具有很好的鲁棒性。
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| 关 键 词： | 无人翼伞飞行器 航迹跟踪 模拟对象 反步法 |
Trajectory Tracking Control for Unmanned Parafoil Vehicle Based on Backstepping Method |
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| ZHANG Hao,CHEN Zi-li,WEI Jian-bin,CHENG Xin. Trajectory Tracking Control for Unmanned Parafoil Vehicle Based on Backstepping Method[J]. Fire Control & Command Control, 2017, 42(9). DOI: 10.3969/j.issn.1002-0640.2017.09.019 |
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| Authors: | ZHANG Hao CHEN Zi-li WEI Jian-bin CHENG Xin |
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| Abstract: | In order to implement the planar trajectory tracking control for Unmanned Parafoil Vehicle (UPV),a backtepping tracking method is proposed. A variable-gain backstepping tracking controller is designed against trajectory tracking error model based on simulation object, which improved system tracking accuracy while ensuring stability. In addition,the controller is applied to UPV planar trajectory tracking control. The simulation experiment illustrates the good robustness of the proposed controller,and accurate tracking ability in trajectory tracking. |
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| Keywords: | unmanned parafoil vehicle trajectory tracking simulative object backstepping |
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