倾转式三旋翼无人机的有限时间收敛控制设计
Finite time convergence control design of the tilt tri-rotor unmanned aerial vehicle

倾转式三旋翼无人机是一种多旋翼无人机的特殊构型, 其兼具单旋翼无人机与普通多旋翼无人机的特点. 然而目前对于此类无人机的鲁棒控制设计研究成果较少, 多数已有的控制方法未考虑外界扰动以及模型的参数不确定性对此类无人机控制的影响. 为此本文针对倾转式三旋翼无人机动力学模型存在的转动惯量未知, 以及飞行中受到未知外界扰动影响的情况, 基于super-twisting算法, 设计了一种新型非线性鲁棒控制方法. 通过基于Lyapunov的稳定性分析方法, 证明了闭环系统的稳定性, 并得到在有限时间内三旋翼无人机的姿态跟踪误差收敛的结果. 本文中所提出的控制算法, 在倾转式三旋翼无人机实验平台上进行了实时飞行控制实验, 取得了较好的控制效果.
Tilt tri-rotor unmanned aerial vehicle(UAV) is a special configuration of multi-rotor UAV, which possess common characteristics with single rotor helicopter UAV and multi-rotor UAV. However, not much work has focuses on the robust control design for the tilt tri-rotor UAV, most of existing works do not consider the effects associated with unknown external disturbances and modeling uncertainties. In this paper, a new nonlinear robust control strategy based on the super-twisting algorithm is proposed to control the tilt tri-rotor UAV which is subjected to unknown inertial tensor and unknown external disturbances. Lyapunov based stability is employed to prove the stability of the closed loop system, the finite-time convergence of the attitude control error is also achieved. The proposed control strategy is validated on the self-built tilt tri-rotor UAV test bed