基于预定性能的四旋翼飞行器姿态控制  

Attitude Control for Quadrotor UAV with Prescribed Performance

作　　者：常绍平 师五喜[1] 郭建川[1] 

机构地区：[1]天津工业大学电气工程与自动化学院,天津300387

出　　处：《计算机仿真》2017年第7期73-78,共6页Computer Simulation

基　　金：天津市自然科学基金(15JCYBJC47800)

摘　　要：四旋翼飞行器结构复杂,姿态角数学模型难以精确建立,滑模控制是姿态角控制的热点方法。但传统滑模控制在到达阶段鲁棒性较差,且很难精确的使跟踪误差的动态及稳态性能同时达到预先设定的性能要求。为解决上述问题,利用性能函数并通过误差转换将一个对输出存在性能约束的非线性问题转化为一个无约束问题,根据转换后的误差并结合微分跟踪器设计一个新型快速时变终端滑模面并设计控制器,消除了到达阶段,使系统具有全局鲁棒性。上述方法不但能保证闭环系统所有信号有界,而且可使跟踪误差在有限时间按照预先设定的性能收敛。仿真结果表明,选用方法具有很强的鲁棒性,且能同时达到需要的动态和稳态性能。It is difficult to be accurately built a mathematical model of a quadrotor unmanned aerial vehicle （UAV） due to its complex structure. The sliding mode control（SMC） is a fashionable way for the attitude control of the quadrotor UAV. But the robustness of the traditional SMC is bad during the reaching phase, and the performance of tracking errors in the transient and steady process can not be accurately prescribed. Considering these problems, a performance function was used and an error transformation was provided to transform the original constrained nonlinear system into an equivalent unconstrained one. A time-varying fast terminal sliding mode surface was designed based on the transformed error and a tracking differentiator. And by using the sliding mode surface, the controller was de- veloped. Thus the reaching phase was eliminated and the robustness can exist all the time. The proposed scheme guarantees that all the signals in the resulting closed-loop system are bounded and that the tracking errors converge to a small residual set with the prescribe performance bounds in finite time. Simulation results prove that the method has strong robustness, which can satisfy the performance of the transient and steady process that is needed.

关 键 词：四旋翼飞行器 预定性能 快速时变终端滑模 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]