Trajectory Tracking Control for the Flexible Wings of a Micro Aerial Vehicle

Trajectory Tracking Control for the Flexible Wings of a Micro Aerial Vehicle
复制标题

DOI：
10.1109/tsmc.2017.2779854
复制
发表时间：
2018-12
期刊：
IEEE Transactions on Systems, Man, and Cybernetics: Systems
影响因子：
--
通讯作者：
Wei He;Tingting Meng;Shuang Zhang;Quanbo Ge;Changyin Sun
Wei He;Tingting Meng;Shuang Zhang;Quanbo Ge;Changyin Sun
中科院分区：
其他
文献类型：
--
作者：
Wei He;Tingting Meng;Shuang Zhang;Quanbo Ge;Changyin Sun

文献摘要

被引文献

相似文献

本文主要调节微型飞行器的柔性机翼来跟踪两个时空变化的轨迹。利用李亚普诺夫直接法，设计了两个边界控制律，保证闭环目标系统沿时间轴的一致有界性。基于Schur补引理，将理论推导得到的非线性不等式重写为矩阵，通过MATLAB中的LMI工具箱进行求解。此外，跟踪控制问题被表述为优化问题。仿真算例证明了所提出的边界控制律的有效性。
This paper mainly regulates a flexible wing of a micro aerial vehicle to track two spatiotemporally varying trajectories. By utilizing Lyapunov’s direct method, two boundary control laws are designed to guarantee uniform boundedness of the closed-loop target system along the time axis. Based on Schur complement lemma, nonlinear inequalities derived from the theoretical deduction are rewritten as matrixes, which are solved through the LMI toolbox in MATLAB. In addition, the tracking control problem is formulated as an optimization problem. The simulation examples are conducted to prove the effectiveness of the proposed boundary control laws.