基于观测器的四旋翼飞行器自适应滑模姿态控制  

Adaptive Sliding Mode Attitude Control for Quad-Rotor Aircrafts Based on Observer

作　　者：王雯[1] 王日俊 张健[1] WANG Wen;WANG Ri-jun;ZHANG Jian(Taiyuan Industrial College,Taiyuan 030008,China;School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]太原工业学院,太原030008 [2]中北大学机械工程学院,太原030051

出　　处：《电光与控制》2019年第6期75-79,共5页Electronics Optics & Control

基　　金：山西省留学回国人员科技活动项目(2013-68);“九七三”国家基础研究发展规划项目(2011CB612204);中北大学自然科学基金(XJJ2016006)

摘　　要：针对存在建模不确定性和外部干扰时四旋翼飞行器的姿态控制问题,提出一种基于观测器的自适应滑模控制算法。在建立四旋翼飞行器姿态误差动力学模型的基础上,通过全局渐近收敛观测器获取系统的未知状态反馈量,利用自适应滑模控制抑制系统的不确定性和干扰,构建一种基于观测器的自适应滑模姿态控制器。基于Lyapunov的稳定性分析表明,该方法的跟踪误差是一致最终有界的。数值仿真实验结果表明,与现有滑模控制方法相比,所提方法具有更好的姿态跟踪性能和较高的抗干扰鲁棒性,能有效保证飞行器的姿态跟踪控制性能。Aiming at the attitude control problem of quad-rotor aircraft with modeling uncertainties and external disturbances,an observer based adaptive sliding mode control algorithm is proposed.Based on the establishment of attitude error dynamics model of quad-rotor aircraft,the unknown state feedback of the system is obtained by the global asymptotic convergence observer,the adaptive sliding mode control is used to suppress the uncertainty and interference of the system.Finally,an adaptive sliding mode attitude controller based on observer is constructed.The stability analysis based on Lyapunov shows that the tracking error of the method is uniform and ultimately bounded.The results of numerical simulation show that,compared with the existing sliding mode control method,the proposed method has better attitude tracking performance and higher anti-disturbance robustness.It can effectively guarantee the attitude tracking control performance of the aircraft with higher robustness.

关 键 词：四旋翼飞行器 滑模控制 姿态跟踪 稳定性 

分 类 号：V294.1[航空宇航科学技术]