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欠驱动无人飞行器自适应轨迹跟踪与路径跟踪控制
  • 项目名称：欠驱动无人飞行器自适应轨迹跟踪与路径跟踪控制
  • 项目类别：青年科学基金项目
  • 批准号：61203022
  • 申请代码：F030102
  • 项目来源：国家自然科学基金
  • 研究期限：2013-01-01-2015-12-31
  • 项目负责人：左宗玉
  • 依托单位：北京航空航天大学
  • 批准年度：2012
中文摘要：

本项目以提高无人飞行器（UAV）跟踪性能和飞行品质为目标，探索适用于欠驱动UAV跟踪控制新方法，以欠驱动四旋翼无人直升机系统为具体研究对象，针对存在气动模型不确定、未知气流扰动以及控制受限等问题，研究相应的轨迹跟踪和路径跟踪控制设计原理和方法。主要内容包括（1）含模型气动参数不确定和外界气流扰动未知的自适应轨迹跟踪控制；（2）基于Parallel-Transport坐标系的制导与控制融合路径跟踪控制；（3）基于修正罗格里德参数的嵌套饱和跟踪控制；（4）含幅值和速率限制的自适应指令滤波轨迹跟踪控制；（5）数值仿真与四旋翼无人直升机飞行实验验证。通过本项目的研究，不仅能够为四旋翼无人直升机提供有效的跟踪控制和饱和控制设计方法，也丰富了UAV飞行控制理论的研究，促进了非线性控制理论在实际中的应用，具有重要的科学意义和实用价值。

中文主题词： 轨迹跟踪；路径跟踪；控制受限；输出受限；自适应控制
结论摘要：

英文主题词Trajectory Tracking；Path-following；Control Constraint；Output Constraint；Adaptive Control

成果综合统计
成果类型
数量
  • 期刊论文
  • 会议论文
  • 专利
  • 获奖
  • 著作
  • 31
  • 30
  • 0
  • 0
  • 0
期刊论文
Adaptive trajectory tracking control design with command filtered compensation for a quadrotor
Consensus Control of a Class of Lipschitz Nonlinear Systems With Input Delay
Almost Global Trajectory Tracking Control of Quadrotors with Constrained Control Inputs
On necessary conditions and sufficient conditions for controllability of discrete-time bilinear syst
On near-controllability of discrete-time upper-triangular bilinear systems with applications to cont
A new class of finite-time nonlinear consensus protocols for multi-agent systems
Adaptive trajectory tracking control of output constrained multi-rotors systems
Control of Gear Transmission Servo Systems With Asymmetric Deadzone Nonlinearity
Leader-follower consensus control of Lipschitz nonlinear systems by output feedback
Three-dimensional coordinated path-following control for second-order multi-agent networks
Non-singular fixed-time terminal sliding mode control of non-linear systems
L1 adaptive control of uncertain gear transmission servo systems with deadzone nonlinearity
Backstepping Control for Gear Transmission Servo Systems With Backlash Nonlinearity
Nonlinear adaptive trajectory tracking control for a quad-rotor with parametric uncertainty
Direct trajectory optimization based on a mapped Chebyshev pseudospectral method
Augmented L1 adaptive tracking control of quad-rotor unmanned aircrafts
自治飞艇直接自适应模糊路径跟踪控制
会议论文
Three-demensional consensus path-following for second-order multi-agent networks
A note on near-controllability of discrete-time upper-triangular bilinear systems
A note on near-controllability of discrete-time upper-triangular bilinear systems
Further results on small-controllability of a class of Hammerstein-nonlinear systems
Further results on small-controllability of a class of Hammerstein-nonlinear systems
Further results on small-controllability of a class of Hammerstein-nonlinear systems
A note on near-controllability of discrete-time upper-triangular bilinear systems
A note on near-controllability of discrete-time upper-triangular bilinear systems
On computing control inputs to achieve state transition for a class of nearly controllable discrete-
On computing control inputs to achieve state transition for a class of nearly controllable discrete-
Three-dimensional consensus path-following for second-order multi-agent networks
Robust global stabilization of the VTOL aircraft based on finite-time fast terminal sliding mode con
On stabilization of continuous-time and discrete-time symmetric bilinear systems by constant control
Fixed-time terminal sliding mode trajectory tracking control of quadrotor helicopter
On controllability of a class of two-dimensional multi-input discrete-time bilinear systems
On controllability of a class of two-dimensional multi-input discrete-time bilinear systems
New types of high-speed nonlinear tracking differentiator with property analysis
Hyperbolic tangent function based adaptive trajectory tracking control for quadrotors
Global trajectory tracking control of quadrotors with input constraint
Further results on small-controllability of a class of Hammerstein-nonlinear systems
A reduction method to consensus control of uncertain multi-agent systems with input delay
On computing control inputs to achieve state transition for a class of nearly controllable discrete-
On computing control inputs to achieve state transition for a class of nearly controllable discrete-
Fixed-time consensus for multi-agent systems under directed and switching interaction topology
On stabilization of continuous-time and discrete-time symmetric bilinear systems by constant control
On stabilization of continuous-time and discrete-time symmetric bilinear systems by constant control
On stabilization of continuous-time and discrete-time symmetric bilinear systems by constant control
On controllability of a class of two-dimensional multi-input discrete-time bilinear systems
On controllability of a class of two-dimensional multi-input discrete-time bilinear systems
L1 Backstepping for Robust Trajectory Tracking
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左宗玉的项目
多无人机固定时间协调路径跟踪控制