基于滑模PID的微型旋翼飞行器轨迹跟踪控制  

Trajectory Tracking Control of Rotating Wing Micro Aerial Vehicle Based on Sliding Mode PID

作　　者：贾鹤鸣[1] 柳泽铭 张金阳[1] 

机构地区：[1]东北林业大学机电工程学院,哈尔滨150040

出　　处：《吉林大学学报（信息科学版）》2014年第4期383-388,共6页Journal of Jilin University（Information Science Edition）

基　　金：中央高校基本科研业务费专项资金资助项目(DL13BB14);东北林业大学大学生创新训练基金资助项目(2013);国家自然科学基金资助项目(30972424)

摘　　要：针对微型旋翼飞行器的轨迹跟踪精度不高的问题,提出一种基于自适应调节PID(Proportion Integration Differentiation)增益的滑模控制器。基于李亚普诺夫稳定性理论,通过自适应律在线调节PID控制增益参数,设计饱和函数抑制滑模控制器的高频抖振,以实现轨迹跟踪误差系统对模型参数变化和外部扰动的鲁棒性。仿真结果表明,该控制器能驱动旋翼飞行器精确跟踪期望的轨迹,具有较高的控制精度,能满足实际工程应用的要求。Aiming at the trajectory tracking problem of rotating wing micro aerial vehicle, an adaptive sliding mode controller based on adjusting the PID（Proportion Integration Differentiation） gain is proposed. To achieve the trajectory tracking error robustness of the model parameter variations and external disturbances, basing on Lyapunov stability theory, an adaptive law is adopted to adjust PID control gain parameters online. Saturation function is designed to inhibit sliding mode controller high-frequency chattering. Simulation results illustrate that the designed controller can drive the micro aerial vehicle to track the desired trajectory accurately, obtaining high precision, and can meet the requirements of practical engineering applications.

关 键 词：微型旋翼飞行器 轨迹跟踪 自适应滑模控制 PID增益调节 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]