论文标题
针对不足的二次轨迹跟踪的强大轨迹跟踪具有规定性能
Robust Trajectory Tracking for Underactuated Quadrotors with Prescribed Performance
论文作者
论文摘要
我们提出了基于四极管无人机（UAV）的规定性能控制（PPC）方法的控制协议。四型系统属于无法直接应用原始PPC方法的不足系统的类别。我们介绍了必要的设计修改，以通过规定的性能稳定考虑的系统。提出的控制方案不使用动态模型参数或外源性干扰的任何信息。此外，稳定性分析可以保证，跟踪误差仍保留在设计人员指定的时变功能内，从而独立于控制收益的选择，实现了规定的性能。最后，仿真结果验证了理论结果。
We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology cannot be directly applied. We introduce the necessary design modifications to stabilize the considered system with prescribed performance. The proposed control protocol does not use any information of dynamic model parameters or exogenous disturbances. Furthermore, the stability analysis guarantees that the tracking errors remain inside of designer-specified time-varying functions, achieving prescribed performance independent from the control gains' selection. Finally, simulation results verify the theoretical results.
