四旋翼飞行器模糊滑模控制器设计与仿真  

Design and simulation of fuzzy sliding mode controller of quadrotor aircraft

作　　者：张希铭[1] 曲仕茹[1] 马志强[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《飞行力学》2014年第5期427-431,共5页Flight Dynamics

基　　金：航空科学基金资助(2012ZC53043)

摘　　要：针对四旋翼飞行器的欠驱动滑模控制对飞行器模型严重依赖问题、飞行器数学模型的特点与姿态及位置控制问题,提出了一种基于模糊理论的滑模控制算法。将飞行器整体控制分为内环控制和外环控制两部分,设计不依赖精确数学模型的滑动模。该滑模控制器结合模糊理论尽可能满足滑模稳定条件ss·<0,从而实现四旋翼飞行器的稳定控制。仿真试验结果表明,所设计的控制器能够实现4 s内完成定点定姿态飞行,与传统的PID控制器相比,对未知扰动具有很好的抗扰性。Aiming at solving the problems of the underactuated sliding-mode control of quadrotor heavily relying on aircraft model, the feature of mathematical model, attitude and position, this paper proposes a sliding-mode control algorithm based on fuzzy theory. The overall control of quadrotor is divided into inner loop and outer loop, the design of sliding-mode does not rely on accurate mathematical model. The fuzzy sliding-mode controller meets the conditions of sliding mode as far as possible using fuzzy theory, in order to realize the stable control of quadrotor. The simulation and experimental results show that the designed controller can achieve fixed point and fixed attitude flight in 4 seconds. It has an excellent resistance to unknown disturbance compared to the traditional PID controller.

关 键 词：四旋翼建模 四旋翼飞行器控制 滑模控制 模糊理论 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]