四旋翼飞行器的反步滑模控制  

Backstepping Sliding Mode Control of Four-rotor Aircraft

作　　者：刘春玲[1] 宿峰 王巍[1] LIU Chun-ling;SU Feng;WANG Wei(College of Electrical Engineering,Liaoning University of Technology,Jinzhou 121001,China)

机构地区：[1]辽宁工业大学电气工程学院,辽宁锦州121001

出　　处：《控制工程》2019年第1期55-60,共6页Control Engineering of China

基　　金：国家自然科学基金项目(61603165);辽宁省自然科学基金项目(20180550366)

摘　　要：针对四旋翼飞行器控制系统存在的建模不精确、控制精度低和鲁棒性差等问题,提出采用反步滑模控制方法控制四旋翼飞行器的姿态及高度。首先在四旋翼飞行器动力学模型基础上改进了姿态及高度的动力学模型,设计了反步滑模控制器。然后采用Simlink对所设计的反步滑模控制器进行仿真,并与PID控制方法进行了仿真对比分析。通过对飞行器轨迹跟踪的研究,可知PID控制与反步滑模控制均可使四旋翼飞行器到达指定位置并保持稳定,但反步滑模控制响应时间更短、稳定性高,具有强鲁棒性,验证了文中所提方法的可行性。The existing four-rotor aircraft control system has the problem of model uncertainties,low control precision and weak robustness.In this paper,the backstepping sliding mode control method is proposed for the attitude and altitude control of the four-rotor aircraft system.The backstepping sliding mode controller is designed based on the improved attitude and altitude dynamic models.The effectiveness of the proposed control method is verified by simulation results,and it is further compared with the PID control method.The simulation results show that both of two methods can make the four-rotor aircraft system reach the prescribed position and remain stable.However,the proposed control method in this paper has shorter response time,high stability and strong robustness.

关 键 词：四旋翼飞行器 反步滑模控制 位置控制 姿态角 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]