基于扩张状态观测器的倾转四旋翼双滑模控制  

Double Sliding Mode Control of Tilted Quadrotor Based on Extended State Observer

作　　者：俞何沛 熊晶晶 YU Hepei;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》2023年第8期33-37,67,共6页Electronics Optics & Control

基　　金：浙江省自然科学基金(LQ21F030016)。

摘　　要：针对倾转四旋翼无人机旋翼模式和短舱角变化后的飞行模式的轨迹跟踪问题,提出一种双滑模控制方法。首先,将倾转四旋翼无人机的动力学系统视为全驱动子系统和欠驱动子系统的组合;其次,结合扩张状态观测器(ESO)对两个子系统分别设计控制律,其中,针对欠驱动子系统,引入复合滑模面,采用Hurwitz稳定性求解滑模面系数;然后,依据Lyapunov稳定性理论,所有子系统均能达到滑模面;最后,通过对比仿真实验验证了所提方法的有效性。A sliding mode control method is proposed to track the trajectory of a tilted quadrotor UAV in the rotor mode and the flight mode after the change of the nacelle angle.Firstly the dynamic system of the tilted quadrotor UAV is considered as the combination of a fully-actuated subsystem and an underactuated subsystem.Secondly by using the Extended State Observer(ESO)the control laws of the two subsystems are designed respectively.For the underactuated subsystem the composite sliding surface is introduced and the Hurwitz stability is used to solve the sliding surface coefficients.Then based on Lyapunov stability theory all subsystems can reach the sliding surface.Finally the effectiveness of the proposed method is verified by comparative simulation experiments.

关 键 词：倾转四旋翼无人机 双滑模控制 LYAPUNOV稳定性理论 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]