Journal of Computer Applications ›› 2016, Vol. 36 ›› Issue (9): 2631-2635.DOI: 10.11772/j.issn.1001-9081.2016.09.2631

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Adaptive tracking control for unmanned aerial vehicle's three dimensional trajectory

ZHANG Kun, GAO Xiaoguang   

  1. School of Electronics and Information, Northwestern Polytechnical University, Xi'an Shaanxi 710129, China
  • Received:2016-01-19 Revised:2016-03-24 Online:2016-09-10 Published:2016-09-08
  • Supported by:
    This work is partially supported by the National Natural Science Foundation of China (61573285).


张坤, 高晓光   

  1. 西北工业大学 电子信息学院, 西安 710129
  • 通讯作者: 张坤
  • 作者简介:张坤(1985-),男,河南新乡人,博士研究生,主要研究方向:多无人机导航制导与控制;高晓光(1957-),女,辽宁沈阳人,教授,博士生导师,博士,主要研究方向:复杂系统建模仿真与效能评估。
  • 基金资助:

Abstract: Concerning the problem of trajectory tracking control for an Unmanned Aerial Vehicle (UAV) when the nominal values of autopilot parameters deviate from the actual values, a three-dimensional trajectory adaptive tracking control law was proposed. First, with no parameter deviation of autopilot parameters, a guidance law was derived and commands were obtained for the UAV's airspeed, track angle and flight-path angle. Global asymptotic stability of the closed-loop tracking system was proved by Lyapunov stability theory. Then regarding the deviation of autopilot parameters, a parameter adaption algorithm was designed to estimate the actual autopilot parameters online, and an adaptive tracking control law for UAV's three-dimensional trajectory was obtained. Simulation results show that the proposed adaptive tracking control law can achieve UAV's three-dimensional trajectory tracking effectively in spite of autopilot parameter deviation.

Key words: trajectory tracking, parameter deviation, guidance law, Unmanned Aerial Vehicle (UAV), adaptive control

摘要: 针对无人机自动驾驶仪参数标称值偏离实际值情况下的航迹跟踪问题,提出一种无人机三维航路自适应跟踪导引律。首先在无人机自动驾驶仪参数无偏离的条件下,推导出能够跟踪三维航路的速度指令、航迹倾斜角指令和航迹方位角指令,并使用Lyapunov稳定性理论证明了跟踪系统全局渐进稳定;之后考虑自动驾驶仪参数标称值偏离实际值的情况,设计自适应算法在线估计自动驾驶仪参数,得到无人机三维航路自适应跟踪导引律。仿真实验表明所提出的自适应跟踪导引律能够使无人机在自动驾驶仪参数偏离条件下有效跟踪三维航迹。

关键词: 航路跟踪, 参数偏离, 导引律, 无人机, 自适应控制

CLC Number: