固定时间扩张状态观测器下的四旋翼飞行器滑模控制策略  

Sliding-Mode Control Strategy of Quadrotor With Fixed-Time Extended State Observer

作　　者：张昭琪 李平[1] ZHANG Zhaoqi;LI Ping(College of Information Science and Engineering,Huaqiao University,Xiamen 361021,China)

机构地区：[1]华侨大学信息科学与工程学院,福建厦门361021

出　　处：《华侨大学学报（自然科学版）》2023年第1期12-20,共9页Journal of Huaqiao University(Natural Science)

基　　金：国家自然科学基金资助项目(61403149);福建省自然科学基金资助项目(2019J01053)。

摘　　要：针对滑模控制中系统状态接近滑模面后存在的抖颤现象,提出一种基于固定时间扩张状态观测器(FTESO)的二阶滑模控制策略.首先,设计全驱动子系统及欠驱动子系统的控制结构中的二阶滑模控制器;然后,通过FTESO对内部的参数不确定及外部扰动进行观测,在一定时间上限内收敛到观测值,利用观测值对控制器进行补偿,从而减少甚至消除抖颤现象;最后,通过李亚普诺夫函数保证设计的四旋翼飞行器系统的闭环稳定性,并进行仿真实验.结果表明:文中提出的控制策略具有优越性.Aiming at the chattering phenomenon after the system approaching the sliding-mode hyperplane in sliding-mode control,a second order sliding mode control strategy base on fixed-time extended state observer(FTESO)is proposed.Firstly,the second order sliding-mode controller is designed in the control structure of fully-actuated subsystem and under-actuated subsystem.Then,the internal parameter uncertainties and external disturbances are observed by FTESO,which converge to the observed values within a certain time limit,the observed values are used to compensate the controller,so as to reduce or even eliminate the chattering phenomenon.Finally,the closed-loop stability of the designed quadrotor system is guaranteed through Lyapunov function,and simulation experiments are carried out.The results show that the proposed control strategy in this paper has advantages.

关 键 词：四旋翼飞行器 滑模控制 固定时间扩张状态观测器 轨迹跟踪 

分 类 号：V249.122[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]