四旋翼无人机的非线性控制理论研究与应用(英文)  

Research and application of nonlinear control techniques for quadrotor UAV

作　　者：胡琼[1] 费庆[1] 伍清河[1] 耿庆波[1] 

机构地区：[1]北京理工大学,北京100081

出　　处：《中国科学技术大学学报》2012年第8期656-663,共8页JUSTC

基　　金：Supported by National Natural Science Foundation of China(201011080)

摘　　要：四旋翼无人机是一类典型的非线性、动态不稳定的多输入多输出系统.首先将复杂的四旋翼动力学模型分解为两个内外环子系统,即平移动力学和姿态动力学,在此基础上研究了反步法以及滑模控制,并将其应用于四旋翼的位置和姿态控制.上述两种非线性控制算法的设计及其稳定性分析都是以李雅普诺夫全局稳定性理论为基础.为了改善系统动态响应并避免超出执行机构的物理实现范围,在姿态控制子系统中,设计了分段可微信号作为安排"过渡过程",代替阶跃指令输入.仿真结果验证了反步法以及滑模控制在四旋翼上应用的可行性和有效性,最后通过对控制效果的比较、分析,总结两者各自的特点.Quadrotor UAV is a classical multi-input and multi-output system, which is nonlinear, complicated and dynamically unstable. Quadrotor dynamics is considered to consist of translation and rotational subsystems. Nonlinear control strategies that include backstepping method and sliding mode control （SMC） for both translational and rotational dynamics are implemented for the quadrotor. The stability of the control design is ensured by the Lyapunov global stability theorem. Additionally, in order to improve the dynamic response and avoid the violation of the control input constraints, the piecewise differentiable input is applied instead of the step input for the control of the rotational subsystem. The performance of the nonlinear control algorithm is evaluated by simulation, whose results validate the effectiveness of the designed control strategies for the quadrotor near quasi stationary （hover or near hover） flight. Finally, a comparison between backstepping and the slide mode is carried out briefly to highlight the respective characteristics.

关 键 词：四旋翼动力学模型 非线性控制 李雅普诺夫全局稳定性定理 反步法 滑模控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]