| 摘要: |
| 针对考虑收敛时间的无人机路径跟踪问题，提出了一种具有状态约束的有限时间路径跟踪抗干扰控制算法。该算法利用有限时间控制理论进行设计，实现了无人机在有限时间内对期望路径的跟踪，从而确保路径跟踪控制系统具有更好的快速性。通过固定时间扰动观测器实现对未知干扰进行快速估计补偿，消除了未知干扰对跟踪控制性能的影响，使算法具有较强的鲁棒性。采用tan型Lyapunov函数实现对无人机状态的约束，从而提高了路径跟踪控制精度。通过仿真对跟踪控制算法的有效性进行了验证，同时该算法具有良好的控制效果。 |
| 关键词: 无人机 有限时间控制 状态约束 |
| DOI： |
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| 基金项目: |
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| Finite-Time Path Following Control of Unmanned Aerial Vehicle with State Constraint and Disturbances |
| CUI Zhengyang,XU Shiyang,NI Yue |
| (Beijing Aerospace Propulsion Institute, Beijing 100076, China;Beijing Institute of Astronautical Systems Engineering, Beijing 100076, China) |
| Abstract: |
| Regarding the solution of UAV（unmanned aerial vehicle） path following considering the convergence time, a disturbance observer based finite-time path following control algorithm is proposed. This method is designed using the finite-time control theory to ensure faster convergence speed of the path following control system, so that the UAV can successfully follow the desired path in a finite time. A tan-type Lyapunov function is designed to subject to the state constraints of the UAV so as to improve the path following control accuracy. A fixed-time disturbance observer is constructed to achieve the rapid estimation and compensation of the unknown disturbances. This design eliminates the adverse impact of the unknown disturbances to the path following control performance and improves the system robustness. The effectiveness of the finite-time control algorithm has been validated by extensive simulations，and it proves that the proposed algorithm can achieves satisfactory performance. |
| Key words: UAV Finite-time control State constraint |