基于CLF的垂直起降无人机姿态控制设计:一种逆最优控制方法

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2015-11-01 DOI:10.1109/RED-UAS.2015.7441003

J. Guerrero-Castellanos, V. Gonzalez-Diaz, A. Vega-Alonzo, G. Mino-Aguilar, M. López-López, W. F. Guerrero-Sánchez, S. E. Maya-Rueda

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引用次数: 2

摘要

提出了一种基于四元数的垂直起降无人机姿态稳定非线性控制方法。首先证明了控制Lyapunov函数(CLF)的存在性。与以前提出的方案不同，本文的目的是利用Sontag公式与最优控制问题之间的关系提出最优控制。控制律保证了闭环系统对期望姿态的渐近稳定。该方法通过一架四旋翼微型直升机进行了实时验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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CLF based design for attitude control of VTOL-UAVs: An inverse optimal control approach

This paper presents the development of a quaternion-based nonlinear control for the attitude stabilization of VTOL-UAVs. Firstly, it is proved the existence of a Control Lyapunov Function (CLF). Unlike some previously proposed schemes, the aim of this paper is to propose an optimal control using the relationship between Sontag's Formula and optimal control problem. The control law ensures the asymptotic stability of the closed-loop system to the desired attitude. The approach is validated in real-time using a quadrotor mini-helicopter.

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2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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