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基于自适应视线法的无人机三维航迹跟踪方法

李辉1,龙腾1,孙景亮1,徐广通2   

  1. 1. 北京理工大学
    2. 清华大学
  • 收稿日期:2021-07-14 修回日期:2021-10-18 出版日期:2021-10-21 发布日期:2021-10-21
  • 通讯作者: 孙景亮
  • 基金资助:
    国家自然科学基金;国家自然科学基金;中国博士后科学基金

Adaptive line-of-sight method for 3D path following of UAVs

Hui LI1,Teng LongJing-Liang SunGuangtong Xu3   

  • Received:2021-07-14 Revised:2021-10-18 Online:2021-10-21 Published:2021-10-21
  • Contact: Jing-Liang Sun

摘要: 针对无人机三维航迹跟踪过程中由于参考航迹切换导致的跟踪误差大、收敛速度慢等问题,提出了基于自适应视线法的航迹跟踪控制方法。设计自适应接纳圆策略,根据航迹段夹角自适应调节航迹点接纳圆半径,提高参考航迹切换时无人机跟踪精度。设计水平与高度跟踪误差反馈的前视距离自适应调整策略,引导无人机快速稳定趋近参考航迹。提出了基于自适应接纳圆和前视距离策略的自适应视线法,定制基于自适应视线法的状态反馈跟踪控制律,实现对参考航迹的快速、准确、稳定的跟踪。仿真结果表明,本文提出的自适应视线法相比基于固定接纳圆和固定前视距离的视线法能够有效减小跟踪误差,提高收敛速度;相比于非线性导引法,自适应视线法在跟踪精度和收敛速度上更具有优势。

关键词: 无人机, 三维航迹跟踪, 视线法, 自适应接纳圆策略, 自适应前视距离策略

Abstract: Considering the issue of big following error and slow rate of convergence when the reference path is switched dur-ing the process of three-dimensional(3D) path following for unmanned aerial vehicles(UAV), an adaptive-line-of-sight(ALOS)-based following control method is proposed. To improve the accuracy of path following when the ref-erence path is switched, an adaptive acceptance circle strategy is customized by setting the different acceptance circles automatically according to the angle between two reference path segments. An adaptive lookahead distance strategy based on the feedback of horizontal and vertical following errors is proposed to guide UAV converge to the reference path quickly and steadily. A state feedback following control law based on ALOS method, in which intro-duces the adaptive acceptance circle strategy and adaptive lookahead distance strategy, is designed to guarantee the UAV to track the reference path quickly, accurately as well as stably. The simulation results illustrate that ALOS obtains a smaller following error and faster rate of convergence compared to the fixed-acceptance-circle-and-lookahead-distance-based line-of-sight. Furthermore, the comparative studies with nonlinear guidance law demonstrate high following accuracy and converge speed of the presented method.

Key words: Unmanned Aerial Vehicle, three-dimensional path following, Line-of-sight, Adaptive acceptance circle strategy, Adaptive lookahead distance strategy

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