无速度测量的四旋翼无人机移动目标跟踪控制

针对只有目标与载机的相对距离信息,而无速度信息的跟踪控制问题,以及在任务场景中对四旋翼无人机期望姿态角有约束的要求,设计了一种位置-姿态控制器。位置控制器只需要目标与载机的相对距离作为输入,其输出保证所生成的期望姿态指令在指定的范围内。为了保证在有限时间收敛至期望姿态,姿态控制器采用了二阶滑模的设计方法,缓解了电机输出指令颤振,并对外部扰动和模型不确定性具有较好的鲁棒性。最后进行了在风场中针对多种机动形式的目标进行了跟踪飞行仿真,得到了满意的跟踪效果。

Moving target tracking control of quadrotor UAVs without velocity measurement

To deal with the target tracking control problem only with relative distance information between the target and the quadrotor, without velocity measurement, and the attitude angle constrain in some task scenarios, a position-attitude controller is designed. The position controller needs only the relative distance between the target and the quadrotor as input, and its output ensures the attitude command in the specified range. In order to guaranteethe convergence to expect attitude in finite time, a second-order sliding mode controller is designed which can relieve the chattering of motor commands, as well as be robust to uncertainties and disturbances. Finally the simulations of different maneuvering target tracking in the wind field show satisfactory tracking performance.