An adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs  

四旋翼无人机飞行姿态的自适应反演滑模控制（英文）

作　　者：JIANG Xue-ying SU Cheng-li XU Ya-peng LIU Kai SHI Hui-yuan LI Ping 姜雪莹;苏成利;徐亚鹏;刘凯;施惠元;李平

机构地区：[1]School of Information and Control Engineering,Liaoning Shihua University,Fushun 113001,China [2]School of Automation,Northwestern Polytechnical University,Xi’an,710072,China

出　　处：《Journal of Central South University》2018年第3期616-631,共16页中南大学学报（英文版）

基　　金：Project(61203021)supported by the National Natural Science Foundation of China;Project(2011216011)supported by the Scientific and Technological Project of Liaoning Province,China;Project(2013020024)supported by the Natural Science Foundation of Liaoning Province,China;Projects(LJQ2015061,LR2015034)supported by the Program for Liaoning Excellent Talents in University,China

摘　　要：To overcome nonlinear and 6-DOF(degrees of freedom)under-actuated problems for the attitude and position of quadrotor UAVs,an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed,in which an adaptive law is designed to online estimate the parameter variations and the upper bound of external disturbances and the assessments is utilized to compensate the backstepping sliding mode control.In addition,the tracking error of the design method is shown to asymptotically converge to zero by using Lyapunov theory.Finally,based on the numerical simulation of quadrotor UAVs using the setting parameters,the results show that the proposed control approach can stabilize the attitude and has hover flight capabilities under the parameter perturbations and external disturbances.本文针对四旋翼无人机飞行姿态系统的非线性强耦合、外界干扰及参数摄动等各种不确定因素影响,提出一种自适应反演滑模控制算法。构造李雅普诺夫函数,证明控制系统的稳定性。其中自适应方法用来对控制系统中不确定的上界进行在线估计,并将估计值补偿到反演滑模控制中,然后,由反演滑模控制实现飞行姿态系统的输出。控制器仿真及实验结果表明,该方法的响应速度快,跟踪误差小,并具有较好的鲁棒性。

关 键 词：quadrotor UAVs adaptive backstepping sliding mode adaptive law tracking error 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]