基于滑模自适应鲁棒控制的四旋翼飞行器轨迹跟踪  

Trajectory Tracking of Quadrotor Aircraft Based on Sliding Mode Adaptive Robust Control

作　　者：杨明博 周紫阳 戴峻 游翔茗 YANG Ming-bo;ZHOU Zi-yang;DAI Jun;YOU Xiang-ming(School of Mechanical and Material Engineering,North China University of Technology,Beijing 100043,China;Coal Science and Technology Research Co.Ltd,Beijing 100020,China)

机构地区：[1]北方工业大学机械与材料工程学院,北京100043 [2]煤炭科学技术研究有限公司,北京100020

出　　处：《火力与指挥控制》2021年第11期65-72,共8页Fire Control & Command Control

基　　金：国家自然科学基金(51105003);北京市自然科学基金资助项目(3172010)。

摘　　要：针对四旋翼飞行器的稳定性在实际应用环境中会受到不同程度的破坏,不易对其进行高精度轨迹跟踪,提出一种滑模自适应鲁棒控制算法。系统整体采用内外环控制思想,将位置部分作为外环子系统,将姿态部分作为内环子系统,对两部分分别进行控制器的设计;通过运用李雅普诺夫稳定性分析判断控制算法是否能够使系统最终达到渐进稳定;最后进行仿真和实验研究,通过仿真和实验结果证明了此算法的有效性和优越性。In view of the fact that the stability of quadrotor aircraft will be damaged in different degrees in the practical application environment,it is difficult to track its trajectory with high precision.A sliding mode adaptive robust control algorithm is proposed to realize it.The whole system adopts the inner and outer loop control idea.The position part is acted as the outer loop subsystem,and the attitude part is acted as the inner loop subsystem.The controllers of the two parts are designed respectively.The Lyapunov stability analysis is used to judge whether the control algorithm can make the system achieve the asymptotic stability in the end.Finally,the simulation and experimental research are carried out,and the simulation and experimental results prove the effectiveness and superiority of this algorithm.

关 键 词：四旋翼飞行器 滑模自适应控制 轨迹跟踪控制 稳定性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]