基于终端滑模的六旋翼无人机有限时间鲁棒控制  

FINITE TIME ROBUST CONTROL BASED ON TERMINAL SLIDING MODE FOR SIX-ROTOR UAV

作　　者：李涛[1] Li Tao(School of Information Engineering,Zhengzhou Tourism College,Zhengzhou 451464,Henan,China)

机构地区：[1]郑州旅游职业学院信息工程学院,河南郑州451464

出　　处：《计算机应用与软件》2023年第4期329-335,共7页Computer Applications and Software

基　　金：河南省高等学校青年骨干教师培养计划项目(2019GZG083)。

摘　　要：为了提高六旋翼无人机在复合扰动下的控制效果,设计一种终端滑模鲁棒控制方法,能够在有限时间内实现稳定控制。建立六旋翼无人机的运动与姿态模型,在运动模型鲁棒控制律设计过程中,引入终端滑模来改善控制效果,并设计自适应律来补偿复合干扰;在姿态模型鲁棒控制律的设计过程中,提出终端滑模模糊系统来补偿复合干扰;在有限时间内实现了六旋翼无人机的全局渐进稳定。实验结果表明,提出的终端滑模有限时间鲁棒控制律与一般滑模控制方法相比,具有更优的稳定性、准确性和快速性,能够在0.1 s内实现全局鲁棒控制,位置和姿态的最大跟踪误差分别仅为0.1 m和0.3°,有效提升了六旋翼无人机的鲁棒性。In order to improve the control effect of six-rotor UAV under complex disturbances,a terminal sliding mode robust control method is designed,which can achieve stable control in a limited time.The motion and attitude models of six-rotor UAV were established.The terminal sliding mode was introduced in motion model robust control law design to improve the control effect,and adaptive law was designed to compensate the compound disturbance.In the process of robust control law design of attitude model,terminal sliding mode fuzzy system was proposed to compensate the compound disturbance,which realized the global asymptotic stability of the six-rotor UAV in a limited time.The experimental results show that the proposed terminal sliding mode finite time robust control is more steady,more accurate and faster than the traditional sliding mode control.It can achieve the global robust control in 0.1 s,and the maximum tracking errors for position and posture are 0.1 m and 0.3 degree respectively,which effectively improves the robustness of the six-rotor UAV.

关 键 词：六旋翼无人机 复合干扰 终端滑模 自适应律 鲁棒控制 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术] TP273