基于改进自适应算法的四旋翼飞行器姿态控制  

Research on attitude control of quadrotor aircraft based on improved adaptive algorithm

作　　者：张釜荣 谢慕君[1] 武凡凯 ZHANG Furong;XIE Mujun;WU Fankai(School of Electrical ＆ Electronic Engineering,Changchun University of Technology,Changchun 130012,China)

机构地区：[1]长春工业大学电气与电子工程学院,吉林长春130012

出　　处：《长春工业大学学报》2018年第4期332-337,共6页Journal of Changchun University of Technology

基　　金：国家自然科学基金资助项目(61374051)

摘　　要：针对四旋翼飞行器非线性系统参数不确定性,建立其动力学模型,并采用独立通道对耦合模型进行了分化。结合滑模控制和映射自适应算法来估计系统的不确定参数,防止控制输入信号过大,进行了动态仿真。For the uncertainty of the nonlinear parameters of the quadrotorsystem, its dynamics model is built, and the coupling models are divided independently. Sliding control is combined with mapping adaptation algorithm to estimate the uncertain parameters of the system and prevent input overflow. Simulation is carried out.

关 键 词：四旋翼 滑模控制 映射自适应 姿态控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]