基于浸入与不变原理的四旋翼姿态系统反步滑模控制  

Backstepping sliding mode control of quadrotor attitude system based on immersion and invariance

作　　者：夏琳琳[1] 丛靖宇 马文杰[2] 赵耀[1] 刘惠敏[3] XIA Lin-lin1, CONG Jing-yul, MA Wen-jie2, ZHAO Yao1, LIU Hui-min3(1. School of Automation Engineering, Electric Power University, Jilin 132012, China; 2. Science College, Northeast Electric Power University, Jilin 132012, China; 3. College of Mechnical and Electrical Engineering, Qingdao Agricultural University, Qingdao 266109, Chin)

机构地区：[1]东北电力大学自动化工程学院,吉林132012 [2]东北电力大学理学院,吉林132012 [3]青岛农业大学机电工程学院,青岛266109

出　　处：《中国惯性技术学报》2017年第5期695-700,共6页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(61503073);吉林省科技厅自然科学基金项目(20170101125JC);吉林省教育厅科学技术研究项目(20171005);吉林市科技局杰出青年项目(20166005)

摘　　要：针对较大幅度外部不确定扰动下的四旋翼姿态稳定问题,设计了一种基于浸入与不变原理(Ⅰ&Ⅰ)的自适应反步滑模控制器(ABSMC)。首先建立了未知大扰动下四旋翼姿态系统动力学模型,然后以横滚角子系统搭建为例,设计并应用了反步法和基于趋进率的滑模控制策略。在扰动估计误差流型设计中,融合了Ⅰ&Ⅰ原理,即自适应率的选取实现了误差流型的不变和吸引,确保估计误差收敛到0。最后,对系统进行了稳定性分析和数字仿真。结果表明,在较大未知扰动情况下,融合Ⅰ&Ⅰ原理方法后,经10 s所测跟踪误差平方的累加和仅为传统ABSMC方法的11.2%,控制精度大幅提高。When it comes to the issue of quadrotor＇s attitude system stabilization under large uncertain external disturbances, an adaptive backstepping sliding mode controller （ABSMC） on basis of immersion and invariance （l＆I） principle is designed. Firstly, the dynamic model of quadrotor＇s attitude system with unknown large disturbances is established. In sequence, the roll subsystem is designated to be set as an illustration, and the corresponding sliding mode control strategies related to the backstepping form ＆ reaching law are designed and introduced accordingly. Specifically, the I＆I principle is invoked in the design process for disturbance estimates error manifold, that is, choosing suitable adaptive rate helps to gain error manifold＇s invariant and attractive properties, guaranteeing the estimates error mentioned above converges to zero as expected. Finally, the stabilization analysis and numerical simulation are carried out. The results illustrate that, under adverse operation circumstances, the summation of tracking error square within 10 s by I＆I principle descend to 11.2% of that derived bv typical ABSMC. and the control nrecision is tested to be drastically enhanced

关 键 词：四旋翼 姿态系统 浸入与不变原理 反步法 滑模控制 

分 类 号：U666.1[交通运输工程—船舶及航道工程]