基于BSP-ANN的四旋翼无人机轨迹跟踪方法

doi:10.7527/S1000-6893.2018.21924

电子电气工程与控制

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基于BSP-ANN的四旋翼无人机轨迹跟踪方法

陈志明, 牛康, 李磊, 吴云华, 华冰

南京航空航天大学微小卫星研究中心, 南京 210016

收稿日期:2017-12-07 修回日期:2018-03-14 出版日期:2018-06-15 发布日期:2018-03-14
通讯作者: 陈志明,E-mail:chenzhiming@nuaa.edu.cn E-mail:chenzhiming@nuaa.edu.cn
基金资助:
国家自然科学基金（61673212）；航空科学基金（20150852013）；江苏省自然科学基金（BK20161490）；上海市优秀学科带头人计划（14XD1423300）

Trajectory tracking method for quadrotor UAV based on BSP-ANN

CHEN Zhiming, NIU Kang, LI Lei, WU Yunhua, HUA Bing

Micro Satellite Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2017-12-07 Revised:2018-03-14 Online:2018-06-15 Published:2018-03-14
Supported by:
National Natural Science Foundation of China (61673212); Aeronautical Science Foundation of China (20150852013); Natural Science Foundation of Jiangsu Province (BK20161490); Program of Shanghai Subject Chief Scientist of China(14XD1423300)

摘要/Abstract

摘要： 为了降低无人机轨迹跟踪误差，提高系统抗干扰能力，对反步（Backstepping）法进行改进提出一种基于反步神经网络（BSP-ANN）的无人机轨迹跟踪方法。首先，建立了四旋翼无人机运动学模型；然后，结合Backstepping方法在无人机的姿态控制、轨迹跟踪控制系统中引入Sigma-Pi神经网络，同时设计Sigma-Pi神经网络控制率，并证明该控制率满足Lyapunov意义下的系统稳定；最后，分别给出了相应的仿真实验。仿真结果表明：该算法可以有效降低跟踪误差，缩短无人机跟踪时间，同时可以提高系统的抗干扰能力。

关键词: 无人机, 轨迹跟踪, Sigma-Pi, 反步神经网络, 反步

Abstract: To reduce the trajectory tracking error of the UAV and improve the anti-jamming ability of the system, a new trajectory tracking algorithm of the UAV is proposed based on BSP-ANN. A dynamic model for the Quadrotor UAV is given. Based on the Backstepping method, the Sigma-Pi ANN is introduced into the position control system and attitude control system of the Quadrotor UAV. The Sigma-Pi ANN control law is designed, and proving the system's stability in the sense of Lyapunov function. The corresponding simulations are performed using MATLAB. Simulation results show that with the BSP-ANN method, the trajectory tracking performance of the UAV can be improved by reducing the trajectory tracking error, decreasing the tracking time, and improving the anti-interference ability of the system.

Key words: UAV, trajectory tracking, Sigma-Pi, BSP-ANN, backstepping

中图分类号:

V249.1

陈志明, 牛康, 李磊, 吴云华, 华冰. 基于BSP-ANN的四旋翼无人机轨迹跟踪方法[J]. 航空学报, 2018, 39(6): 321924-321924.

CHEN Zhiming, NIU Kang, LI Lei, WU Yunhua, HUA Bing. Trajectory tracking method for quadrotor UAV based on BSP-ANN[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018, 39(6): 321924-321924.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

基于BSP-ANN的四旋翼无人机轨迹跟踪方法

Trajectory tracking method for quadrotor UAV based on BSP-ANN

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