Finite-time stable tracking control for a class of underactuated aerial vehicles in SE(3)
Finite-time stable tracking control for a class of underactuated aerial vehicles in SE(3)
复制标题
SE(3)中一类欠驱动飞行器的有限时间稳定跟踪控制
DOI：
10.23919/acc.2017.7963556
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Rakesh R. Warier
中科院分区：
文献类型：
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作者：
V. S. Prabhakaran;A. Sanyal;Rakesh R. Warier
本文给出了一类满足SE（3）的自主欠驱动机器人的短时间稳定导引和反馈控制方案。欠驱动车辆的特点是控制输入比配置变量的数量少，并建模为一个刚体与四个控制输入。这些控制输入在车身固定的坐标系中致动三个旋转运动自由度和一个平移运动自由度。该驱动模型适用于各种欠驱动飞行器，包括带有内部姿态驱动器的航天器、垂直起降（VTOL）飞机、固定翼多旋翼无人机（UAV）、可折叠机器人飞行器等。制导和控制问题在几何力学的框架下，在特殊的刚体运动欧几里德群SE（3）上展开，其在该配置流形上全局地表示车辆动力学。本文设计的有限时间稳定的平动和姿态控制器跟踪SE（3）中的期望位置和姿态。反馈系统的整体稳定性分析。利用离散拉格朗日-达朗贝尔原理，以李群变分积分器的形式得到了无人机动力学和控制方案的离散时间模型。通过数值仿真，证明了整个反馈系统在状态空间上的几乎全局有限时间稳定性，并说明了有限时间稳定性的重要性。
Finite-time stable guidance and feedback control scheme for steering a class of autonomous underactuated vehicles in SE(3), is given here. The underactuated vehicles are characterized by fewer control inputs than the number of configuration variables and modeled as a rigid body with four control inputs. These control inputs actuate the three degrees of freedom of rotational motion and one degree of freedom of translational motion in a vehicle body-fixed coordinate frame. This actuation model is appropriate for a wide range of underactuated vehicles including spacecraft with internal attitude actuators, vertical take-off, and landing (VTOL) aircraft, fixed-wing multirotor unmanned aerial vehicles (UAVs), maneuverable robotic vehicles, etc. The guidance and control problems are developed on the special Euclidean group of rigid body motions, SE(3), in the framework of geometric mechanics, which represents the vehicle dynamics globally on this configuration manifold. The desired position and attitude in SE(3) is tracked by the finite-time stable translational and attitude controller developed here. The overall stability analysis of the feedback system is addressed. Discrete time models for the dynamics and control schemes of the UAV are obtained in the form of Lie group variational integrators using the discrete Lagrange-d'Alembert principle. Almost global finite-time stability of the overall feedback system over the state space is demonstrated and the importance of finite-time stability is presented through numerical simulations.