提出新型稳定证明，揭示飞行器轨迹跟踪的理论保障与实际陷阱
New Insights into Cascaded Geometric Flight Control: From Performance Guarantees to Practical Pitfalls
- 基于滑模变量与四元数滑模控制器重构控制框架
- 证明位置轨迹可指数收敛，误差受姿态环影响显著
- 揭示模型不确定性与工程实现中的潜在失效问题
本文为飞行器跟踪时变位置轨迹所采用的级联几何控制提供新的稳定性证明。通过引入滑模变量与最近提出的基于四元数的滑模控制器，我们证明了位置轨迹的指数收敛在理论上是可行的。分析揭示了姿态环跟踪误差对位置环的影响机制、模型不确定性对闭环系统的影响，以及该控制架构在实际应用中可能遭遇的陷阱。结果为设计更鲁棒的飞行控制系统提供了理论依据。
原文摘要 · Abstract (English)
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to demonstrate that exponentially convergent position trajectory tracking is theoretically possible. Notably, our analysis reveals new aspects of the control strategy, including how tracking error in the attitude loop influences the position loop, how model uncertainties affect the closed-loop system, and the practical pitfalls of the control architecture.
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