四旋翼载重无人机双闭环轨迹跟踪控制  

Dual Closed-Loop Trajectory Tracking Control of Quadrotor Load UAV

作　　者：罗鼎馨 蒋近[1,2] 许迪文 LUO Ding-xin;JIANG Jin;XU Di-wen(College of Information Engineering,Xiangtan University,Xiangtan 411105,China;Key Laboratory of Intelligent Computing and Information Processing,Ministry of Education,Xiangtan University,Xiangtan 411105,China)

机构地区：[1]湘潭大学信息工程学院,湘潭411105 [2]湘潭大学智能计算与信息处理教育部重点实验室,湘潭411105

出　　处：《微特电机》2020年第9期39-44,共6页Small & Special Electrical Machines

基　　金：湖南省自然科学基金资助项目(2015JJ3126)。

摘　　要：针对在常规滑模和PID控制下的四旋翼载重无人机在无人机飞行运动及负载变化时难以实现精准轨迹跟踪的问题,提出一种基于自适应非奇异终端滑模与改进的自抗扰控制相结合的双闭环轨迹跟踪控制方法。外环的位置控制系统采用自适应非奇异终端滑模控制算法,外环系统状态能在有限时间内迅速达到收敛平衡状态,增强了系统的鲁棒性;内环的姿态控制系统采用改进的自抗扰控制算法,设计一个新的非线性状态误差反馈函数,相比原来的状态误差反馈函数更平滑,较好地减小了误差反馈控制的抖振影响,闭环系统更加稳定。仿真结果证明,所设计的控制系统能精准快捷地实现了四旋翼载重无人机的轨迹跟踪控制。It is difficult to achieve accurate trajectory tracking of quadrotor load UAV under control of conventional sliding mode and PID during flight movement and load changes.A method of dual closed-loop trajectory tracking control of the quadrotor load UAV by combining adaptive nonsingular terminal sliding mode with improved active disturbance rejection control was proposed.By adopting the algorithm of adaptive non-singular terminal sliding mode control for the position control system of the outer loop,the state of the outer loop system can quickly converge to the equilibrium state in a finite time,and the robustness of the system could be better strengthen.A new state function of error feedback designed by adopting the algorithm the improved active-disturbance rejection control in the attitude control system of the inner loop,which is smoother than the original function,thus reducing the buffeting effect of the error feedback control and making the closed-loop system more stable.The simulation results show that the designed control system can realize trajectory tracking control of the quadrotor load UAV faster and better.

关 键 词：四旋翼载重无人机 自适应非奇异终端滑模 自抗扰控制 轨迹跟踪 

分 类 号：TM464[电气工程—电器]