共轴八旋翼无人机神经自适应滑模控制设计  

Design of Neuro-Adaptive Sliding Mode Control for Coaxial Octorotor UAVs

作　　者：郭乃欢 熊晶晶 GUO Naihuan;XIONG Jingjing(School of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310000,China)

机构地区：[1]中国计量大学机电工程学院,杭州310000

出　　处：《电光与控制》2022年第2期93-98,共6页Electronics Optics & Control

基　　金：浙江省自然科学基金(LQ21F030016)。

摘　　要：针对共轴八旋翼无人机位置与姿态的跟踪控制问题,在充分考虑模型不确定性及外部干扰的情况下,提出一种神经自适应滑模控制方法。首先,将共轴八旋翼无人机动力学系统分为两个子系统,即全驱动子系统和欠驱动子系统。然后,运用神经网络对模型参数不确定部分和外界干扰项进行估计,设计一种合适的滑模控制器,根据所设计的控制器和Lyapunov稳定性理论,两个子系统的状态轨迹均能渐近到达其对应的滑模面,从而保证共轴八旋翼无人机位置与姿态的跟踪控制能够实现。最后,通过大量仿真结果验证了所提方法的有效性。For the problem of position and attitude tracking control of coaxial octorotor UAVs,a neuro-adaptive sliding mode control approach is proposed in consideration of model uncertainties and external disturbances.Firstly,the dynamic system of coaxial octorotor UAV is divided into two subsystems,that is,a fully actuated subsystem and an under-actuated subsystem.Then,the model parameter uncertainty and external disturbance terms are estimated by using neural network,and a proper sliding mode controller is designed.Based on the designed controller and Lyapunov stability theory,the state trajectories of the two subsystems can be driven onto the corresponding sliding mode surface asymptotically,which ensures that the position and attitude tracking control of coaxial octorotor UAV can be performed.Finally,abundant simulation results have verified the effectiveness of the proposed approach.

关 键 词：共轴八旋翼无人机 姿态跟踪 自适应神经网络 滑模控制 LYAPUNOV稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V249.122[自动化与计算机技术—控制科学与工程]