基于ESO的六旋翼无人机反演滑模控制器设计  

Backstepping sliding mode controller design for six-rotor UAV based on ESO

作　　者：王小平[1] 周问 王跃萍[2] 王晓光 刘博[1] WANG Xiaoping;ZHOU Wen;WANG Yueping;WANG Xiaoguang;LIU Bo(Aeronautics Engineering College,AFEU,Xi’an 710038,China;Department of Flight Control,AVIC Xi’an Flight Automatic Control Research Institute,Xi’an 710076,China)

机构地区：[1]空军工程大学航空工程学院,陕西西安710038 [2]航空工业西安飞行自动控制研究所飞控部,陕西西安710076

出　　处：《飞行力学》2021年第2期51-57,共7页Flight Dynamics

基　　金：航空科学基金资助(2019ZC09601)。

摘　　要：针对六旋翼无人机建模过程中存在非建模动态、飞行过程中存在不确定外界干扰的轨迹跟踪控制问题,设计了一种基于扩张状态观测器的反演滑模控制器。首先,利用扩张状态观测器(ESO)进行扰动项的实时估计和系统状态的在线观测;然后,结合反演和滑模控制理论方法设计控制器,以消除系统不确定性和外界干扰带来的影响,并基于Lyapunov稳定性理论证明了闭环系统跟踪误差最终有界收敛;最后,通过仿真试验和飞行试验验证了所设计飞行控制算法的有效性。研究结果表明,存在不确定外界干扰的情况下,所设计的方法依然可以实现预定轨迹的稳定跟踪,有效提高了其抗干扰能力。For the trajectory tracking control problem with the non-modeling dynamics of the six-rotor UAV during the modeling process and uncertain external disturbances during flight,the backstepping sliding mode controller based on the extended state observer(ESO)is proposed.Firstly,the ESO is used to realize the real-time estimation of the total disturbance term and the online observation of the system states.Then,the controller is designed in conjunction with the BC and SM control method to eliminate influence of the uncertainty.The final bounded convergence of the tracking error of the closed-loop system is proved based on Lyapunov stability theory.Finally,the effectiveness of the designed control algorithm is verified by simulation experiments and flight tests.The research results show that the designed method can realize the stable tracking of the expected trajectory in case of uncertain external interference,and improve its anti-interference ability effectively.

关 键 词：扩张状态观测器 反演滑模控制 六旋翼无人机 轨迹跟踪 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]