四旋翼飞行器姿态的自适应反演滑模控制研究  

Research on Four-Rotor Aircraft Attitude Control with Adaptive Backstepping Sliding Mode Algorithm

作　　者：张建明[1] 邱联奎[1] 刘启亮[1] 

机构地区：[1]河南科技大学信息工程学院,河南洛阳471003

出　　处：《计算机仿真》2015年第3期42-47,共6页Computer Simulation

摘　　要：微小型四旋翼飞行器是一种欠驱动、强耦合的非线性系统。针对四旋翼飞行器控制中的姿态控制优化进行研究,建立了四旋翼飞行器完整的姿态运动模型,为提高系统响应速度和抗干扰性,在反演控制基础上与自适应和滑模控制方法相结合,根据Lyapunov稳定性进行控制系统设计,并选取合适的控制参数使所设计的控制系统是渐进稳定的,最终设计了一种基于自适应反演滑模算法的姿态控制器。通过计算机仿真软件进行验证,结果表明所设计的控制器与其它算法相比具有更快的响应时间和很强的鲁棒性。Micro four-rotor aircraft is a under-driven,strongly coupled nonlinear system. This paper focused on the study of the four-rotor aircraft attitude control. In this paper,we established a four-rotor aircraft attitude completely mathematical model. Combined the backstepping control basic idea with adaptive and sliding mode control method,we designed the control system based on Lyapunov stability criterion,and selected the appropriate control parameters to ensure that the design of the control system is asymptotically stable. Finally,we designed an attitude controller based on adaptive backstepping sliding model algorithm. Verified by computer simulation software,the results show that compared with the controller with other algorithm,our design has a faster response time and more robust.

关 键 词：四旋翼 自适应 反演 滑模 姿态控制 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]