基于离散滑模控制的四旋翼飞行器轨迹跟踪  

Trajectory Tracking of a Quadrotor Based on Discrete-Time Sliding Mode Control

作　　者：成利梅 CHENG Limei(Taiyuan University of Science and Technology,Taiyuan 030000,China)

机构地区：[1]太原科技大学,太原030000

出　　处：《电光与控制》2022年第4期16-20,共5页Electronics Optics & Control

基　　金：山西省回国留学人员科研资助项目(2020-127);太原科技大学校级教改项目(2020059)。

摘　　要：针对离散时间域的四旋翼飞行器的大角度轨迹跟踪问题进行研究。首先,采用牛顿-欧拉法建立了基于三维旋转群SO(3)的动力学模型,并采用前向欧拉法将其转换为离散模型。接着,提出了基于内外环的控制结构,并将离散滑模变结构控制应用于内外环控制器的设计,通过李雅普诺夫函数证明了所设计控制器的稳定性。最后,通过Matlab/Simulink仿真验证所设计控制系统的性能,仿真结果表明所设计控制系统具有良好的大角度轨迹跟踪性能。This paper focuses on large-angle trajectory tracking control of a quadrotor in discrete time domain.Firstly,the Newton-Euler method is used to establish a dynamic model based on 3D rotation group SO(3),which is then transformed into a discrete-time model by using the forward Euler method.Next,a control scheme based on the structure of inner and outer loops is proposed.Then,discrete-time sliding mode control is applied to the design of inner and outer loop controllers,whose stability is proved by Lyapunov function.Finally,the performance of the designed control system is verified by Matlab simulation.The simulation results show that the designed control system has good large-angle trajectory tracking performance.

关 键 词：四旋翼飞行器 旋转群SO(3) 内外环结构 离散滑模控制 轨迹跟踪 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]