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A Lyapunov-based three-axis attitude intelligent control approach for unmanned aerial vehicle

Journal of Central South University 2015年第12期22卷 4669-4678页

作者： A.H.Mazinan Department of Control Engineering Faculty of Electrical EngineeringSouth Tehran BranchIslamic Azad University (IAU)

A novel Lyapunov-based three-axis attitude intelligent control approach via allocation scheme is considered in the proposed research to deal with kinematics and dynamics regarding the unmanned aerial vehicle *** is a consensus among experts of this field that the new outcomes in the present complicated systems modeling and control are highly appreciated with respect to *** control scheme presented here is organized in line with a new integration of the linear-nonlinear control approaches,as long as the angular velocities in the three axes of the system are accurately dealt with in the inner closed loop *** the corresponding rotation angles are dealt with in the outer closed loop *** should be noted that the linear control in the present outer loop is first designed through proportional based linear quadratic regulator(pd based lqr) approach under optimum coefficients,while the nonlinear control in the corresponding inner loop is then realized through Lyapunov-based approach in the presence of uncertainties and *** order to complete the inner closed loop control,there is a pulse-width pulse-frequency(PWPF) modulator to be able to handle on-off ***,the number of these on-off thrusters may be increased with respect to the investigated control efforts to provide the overall accurate performance of the system,where the control allocation scheme is realized in the proposed *** may be shown that the dynamics and kinematics of the unmanned aerial vehicle systems have to be investigated through the quaternion matrix and its corresponding vector to avoid presenting singularity of the *** the end,the investigated outcomes are presented in comparison with a number of potential benchmarks to verify the approach performance.

关键词： Lyapunov based control approach pd based lqr approach control allocation scheme kinematics and dynamics unmanned aerial vehicle system on-off thrusters PWPF modulator

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