基于预设性能的四旋翼无人机反步轨迹追踪策略研究

连艺泽; 周春桂; 郭俊伶; 曹梦阳; 赵河明

doi:10.7643/issn.1672-9242.2026.10.009

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装备环境工程 ›› 2026, Vol. 23 ›› Issue (10) : 82-89. DOI: 10.7643/issn.1672-9242.2026.10.009

航空航天装备

基于预设性能的四旋翼无人机反步轨迹追踪策略研究

连艺泽¹, 周春桂^1,*, 郭俊伶², 曹梦阳¹, 赵河明¹

作者信息 +

Research on Backstepping Trajectory Tracking Strategy of Quadrotor UAV Based on Prescribed Performance

LIAN Yize¹, ZHOU Chungui^1,*, GUO Junling², CAO Mengyang¹, ZHAO Heming¹

Author information +

文章历史 +

摘要

目的针对四旋翼无人机在复杂飞行环境下,跟踪中遇到的跟踪不精确、误差波动大以及位移跟踪误差难以做到定量的约束控制的问题。考虑无人机实际飞行中的环境扰动（如风扰和温度波动等）,提出一种改进型预设性能函数,将跟踪误差限制在预设范围,兼顾环境适应性和控制精度要求。方法融合预设性能与反步控制,设计控制器调控误差响应时间和稳态误差,通过仿真对比实验,验证该方法定量约束控制的有效性。结果改进的方法可有效减少跟踪误差,在仿真的前2 s内,三轴的平均跟踪误差为反步控制的35.28%,为滑膜控制的55.46%,为指定时间预设性能控制的49.01%。结论该控制算法可以有效地限制跟踪误差,对其进行定量约束,在不同环境扰动工况下,仍能保持飞行的稳定性和鲁棒性,优化了航空无人机装备的运行可靠性。

Abstract

Aiming at the problems of inaccurate trajectory tracking, large fluctuation of tracking errors and difficulty in quantitative constraint control of displacement tracking errors for quadrotor UAVs in complex flight environments, the work aims to propose an improved prescribed-performance function to constrain tracking errors within preset ranges with balanced environmental worthiness and control accuracy, with consideration to environmental disturbances such as wind turbulence and temperature fluctuations in practical flight. A controller was designed by combining prescribed-performance control with backstepping control to regulate error response time and steady-state error. Comparative simulations were conducted to verify the quantitative constraint effectiveness of the proposed method. The result showed that the modified method could effectively reduce tracking errors, with the average three-axis tracking error being 35.28% of backstepping control and 55.46% of sliding mode control within the first 2 s, which was 49.01% of the preset performance control at the specified time. Simulation results show that the presented algorithm can effectively realize quantitative constraint of tracking errors and maintain stable and robust flight under various environmental disturbances, optimizing the operational reliability of aviation UAV equipment.

导出引用

连艺泽, 周春桂, 郭俊伶, 曹梦阳, 赵河明. 基于预设性能的四旋翼无人机反步轨迹追踪策略研究[J]. 装备环境工程. 2026, 23(10): 82-89 https://doi.org/10.7643/issn.1672-9242.2026.10.009

LIAN Yize, ZHOU Chungui, GUO Junling, CAO Mengyang, ZHAO Heming. Research on Backstepping Trajectory Tracking Strategy of Quadrotor UAV Based on Prescribed Performance[J]. Equipment Environmental Engineering. 2026, 23(10): 82-89 https://doi.org/10.7643/issn.1672-9242.2026.10.009

中图分类号： V249.1 TP273

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