基于无源性与势场法的四旋翼避障与位置控制
收稿日期: 2022-05-02
修回日期: 2022-05-23
录用日期: 2022-06-16
网络出版日期: 2022-06-24
基金资助
国家自然科学基金(61903163);江苏省研究生科研创新计划(KYCX22_3823)
A position control and obstacle avoidance method for quadrotor via approach based on passivity and artificial potential filed
Received date: 2022-05-02
Revised date: 2022-05-23
Accepted date: 2022-06-16
Online published: 2022-06-24
Supported by
National Natural Science Foundation of China(61903163);Postgraduate Research and Practice Innovation Program of Jiangsu Province(KYCX22_3823)
王羿 , 叶辉 , 杨晓飞 . 基于无源性与势场法的四旋翼避障与位置控制[J]. 航空学报, 2023 , 44(S1) : 727492 -727492 . DOI: 10.7527/S1000-6893.2022.27492
A control strategy combining the passive control theory and the artificial potential field method is proposed for the quadrotor UAV to solve the problem of position control and obstacle avoidance. This method divides the whole control system into two parts： the outer loop position controller and the inner loop attitude controller. In the design of the outer loop controller， the passivity theory of the cascade system is adopted， and the appropriate potential field function is selected as the storage function to solve the problem of obstacle avoidance in the process of fixed-point tracking. In the design of inner loop controller， quaternion is used to describe the attitude dynamics of the quadrotor UAV， and the inner loop controller is designed based on the Lyapunov function. Furthermore， the interconnection structure of the passive position subsystem and the attitude subsystem is constructed to ensure the stability of the whole closed-loop system. Finally， the simulation results verify the effectiveness and control performance of the proposed control strategy.
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