Trajectory planning and prescribed performance tracking control based on fractional-order observers for unmanned helicopters with unmeasurable states

Shuyi Shao; Liwen Wang; Xiaohui YanQingxian Wu

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Trajectory planning and prescribed performance tracking control based on fractional-order observers for unmanned helicopters with unmeasurable states

机译：Trajectory planning and prescribed performance tracking control based on fractional-order observers for unmanned helicopters with unmeasurable states

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摘要

The trajectory planning and tracking control problem is studied in this paper based on prescribed performance method (PPM) for the small-scale unmanned autonomous helicopter (UAH) with wind-gust disturbances (WGDs) and unmeasurable states. For the purpose, the nonlinear model with flapping dynamics is established, and the transformation performance function is used to ensure that the errors of trajectory tracking satisfy the corresponding performance. A fractional-order observer is designed for unmeasurable states to estimate the flapping angles in actual flight, and the fractional-order extended state observer (ESO) is constructed to estimate the WGDs, respectively. On the basis of PPM and the designed observers, the fractional-order theory-based backstepping trajectory tracking control scheme is developed for the UAH system, and the three-dimensional trajectory is planned by the improved wolf pack algorithm. Then the stability of the entire system is proven through strict theoretical analysis. Finally, the simulation analysis on the UAH is presented to demonstrate the efficiency of the designed method.

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来源
《Aerospace science and technology》 |2023年第8期|86-107|共22页
作者
Shuyi Shao; Liwen Wang; Xiaohui YanQingxian Wu;
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作者单位

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China,College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;

Key Laboratory of Applied Mathematics and Artificial Intelligence Mechanism, Hefei University, Hefei 230601, China;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种英语
中图分类
关键词
Trajectory planning; Tracking control; Prescribed performance; Fractional-order observer; Unmeasurable states;

Trajectory planning and prescribed performance tracking control based on fractional-order observers for unmanned helicopters with unmeasurable states

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