四旋翼无人机参数预测和抗扰动自适应轨迹跟踪控制  

Parameter Prediction and Anti-Disturbance Adaptive Trajectory Tracking Control for UAVs

作　　者：司勇 王兆魁[1] 李东方 吴奇[3] SI Yong;WANG Zhao-kui;LI Dong-fang;WU Qi(School of Aerospace Engineering,Tsinghua University,Beijing 100084,China;College of Electrical Engineering and Automation,Fuzhou University,Fuzhou 350108,China;School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200230,China)

机构地区：[1]清华大学航天航空学院,北京100084 [2]福州大学电气工程与自动化学院,福建福州350108 [3]上海交通大学电子信息与电气工程学院,上海200230

出　　处：《测控技术》2023年第2期99-107,共9页Measurement & Control Technology

基　　金：国家自然科学基金面上项目(62171274)。

摘　　要：为了降低外界环境对四旋翼无人机飞行轨迹的扰动性,提高无人机的控制精度,提出1种基于滑模控制的四旋翼无人机参数预测和抗扰动的自适应轨迹跟踪控制器。这种控制器对四旋翼无人机系统的不确定状态参数、气流、风阻和执行器故障等外界扰动进行预测,实现了对系统输入的状态补偿和扰动补偿,提高了无人机的轨迹跟踪效率和抗扰动能力,消除了机体在飞行过程中的抖振现象,提高了无人机系统对环境的适应性和控制器的稳定性。通过仿真实验,分析了四旋翼无人机在不同控制器作用下的轨迹跟踪性能曲线,验证了所提出的控制器的优越性和有效性。In order to reduce the disturbance of the external environment on the flight path of a UAV and improve the control accuracy of a UAV,an adaptive trajectory tracking controller based on sliding mode control for a UAV is proposed.This controller can predict the uncertain state parameters, airflow, windage, actuator faults, and other external disturbances of the four rotor UAV system, and realize the state and disturbance compensations of the system input, which can improve trajectory tracking efficiency and anti-interference ability of a UAV,eliminate the body chattering phenomenon in the flight process, and improve the adaptability of UAV system to the environment and the stability of the controller.Through simulation experiments, the trajectory tracking performance curves of four rotor UAV under different controllers are analyzed, and the advantages and effectiveness of the proposed controller are verified.

关 键 词：四旋翼无人机 滑模控制 自适应控制 轨迹跟踪 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]