Abstract In this paper, the switched safe tracking control scheme is investigated for the attitude and altitude system of a medium-scale unmanned autonomous helicopter with output constraints and unknown external disturbances. To keep the attitude angles and altitude within the desired constrained range, an output boundary protection approach is adopted to generate an output constrained trajectory which is piecewise differentiable. The disturbance observer-based control method is employed to handle the unknown external disturbances of the system. Because of the piecewise differentiability of the output constrained trajectory, the closed-loop error system with the safe tracking controller can be seen as a switched system with jump dynamics. The multiple Lyapunov function method is adopted to guarantee the tracking performance with designed average dwell time. Simulation results of an example are provided to illustrate the effectiveness of the proposed control scheme for the unmanned autonomous helicopter system.

中文翻译：

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有扰动的无人自主直升机切换安全跟踪控制设计

摘要 本文研究了具有输出约束和未知外部扰动的中型无人自主直升机的姿态和高度系统的切换安全跟踪控制方案。为了将姿态角和高度保持在所需的约束范围内，采用输出边界保护方法来生成可分段可微的输出约束轨迹。采用基于扰动观测器的控制方法来处理系统未知的外部扰动。由于输出约束轨迹的分段可微性，具有安全跟踪控制器的闭环误差系统可以被视为具有跳跃动力学的切换系统。采用多重李雅普诺夫函数方法来保证设计平均停留时间的跟踪性能。提供了一个例子的仿真结果来说明所提出的无人自主直升机系统控制方案的有效性。