多重事件触发机制下四旋翼飞行器的姿态跟踪控制

常璧麟; 龙离军; 程杨; 刘雪意; 申子晗; 王泽通

doi:10.7652/xjtuxb202203021

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多重事件触发机制下四旋翼飞行器的姿态跟踪控制

更新时间：2025-07-09

- 多重事件触发机制下四旋翼飞行器的姿态跟踪控制
- Attitude Tracking Control of Quadrotors under Multiple Event-Triggered Mechanism
- 西安交通大学学报 2022年56卷第3期页码：206-214
- 作者机构：
  
  东北大学信息科学与工程学院,沈阳,110819
- 作者简介：
- 基金信息：
  
  : 2021-06-30。作者简介: 常璧麟(2001—),男,本科生;龙离军(通信作者),男,教授。基金项目: 国家自然科学基金资助项目(62173075);国家级大学生创新创业训练计划资助项目(211244);中央高校基本科研业务专项资金资助项目(N2124001)
- DOI：10.7652/xjtuxb202203021
  中图分类号： TP271+.9
- 网络首发：2022-03-10，
  
  纸质出版：2022
- 稿件说明：
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常璧麟, 龙离军, 程杨, 等. 多重事件触发机制下四旋翼飞行器的姿态跟踪控制[J]. 西安交通大学学报, 2022,56(3):206-214.

Attitude Tracking Control of Quadrotors under Multiple Event-Triggered Mechanism[J]. 2022, 56(3): 206-214.
常璧麟, 龙离军, 程杨, 等. 多重事件触发机制下四旋翼飞行器的姿态跟踪控制[J]. 西安交通大学学报, 2022,56(3):206-214. DOI： 10.7652/xjtuxb202203021.

Attitude Tracking Control of Quadrotors under Multiple Event-Triggered Mechanism[J]. 2022, 56(3): 206-214. DOI： 10.7652/xjtuxb202203021.

摘要

为减少四旋翼飞行器姿态跟踪控制中内部计算与通信资源的损耗

提出了基于反步法和多重事件触发机制下的四旋翼飞行器姿态跟踪控制。建立了四旋翼飞行器的动力学模型

并以滚转角系统为例

利用反步法设计连续控制器

实现了飞行器滚转角对参考信号的跟踪控制; 通过引入事件触发机制构造了事件触发控制器

基于Lyapunov稳定性理论证明了所设计的事件触发控制器可以使滚转角系统保持稳定

且避免了Zeno现象; 同时

在不同的参数作用下

采用相同方法对四旋翼飞行器的其他3个系统分别设计了各自对应的事件触发机制和事件触发控制器; 由此构建的4个事件触发机制共同构成了四旋翼飞行器的多重事件触发机制。仿真结果表明

在多重事件触发机制作用下

所提事件触发控制器在3 s内共触发150次即可达到与周期采样控制器连续采样3 000次相同的跟踪效果。

Abstract

In order to reduce the loss of internal calculation and communication resources in the attitude tracking control of quadrotors

an attitude tracking control based on the backstepping method and multi-event triggered mechanism is proposed. First

the dynamic model of the quadrotor aircraft is established

and the roll angle system is taken as an example. Also

a continuous controller is designed using the backstepping method to achieve the tracking control of the aircraft roll angle to the reference signal. Second

an event-triggered controller is constructed by introducing an event-triggered mechanism. Based on the Lyapunov stability theory

it is proved that the designed event-triggered controller can keep the roll angle system stable and avoid the Zeno phenomenon. At the same time

the same method is adopted for the other three systems of the quadrotor. Under different parameters

the corresponding event-triggered mechanism and event-triggered controller are designed

respectively. The four event-triggered mechanisms constitute the multi-event triggered mechanism of the quadrotor. Finally

the simulation results show that under the multi-event triggered mechanism

the proposed event-triggered controller can be triggered 150 times in 3 seconds to achieve the same tracking effect as the periodic sampling controller for 3 000 consecutive samples.

关键词

Keywords

references

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