基于差分进化算法的四旋翼自适应滑模控制  

Adaptive Sliding Mode Control of Quadrotor Based on Differential Evolution Algorithm

作　　者：成利梅 张春美[1] 郭红戈[1] CHENG Li-mei;ZHANG Chun-mei;GUO Hong-ge(School of Electronic Information Engineering,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China)

机构地区：[1]太原科技大学电子信息工程学院,山西太原030024

出　　处：《计算机仿真》2023年第6期66-71,共6页Computer Simulation

基　　金：国家自然科学青年基金(61603266);新工科背景下人工智能课程多元化教学模式的构建研究基金(2020059)。

摘　　要：针对四旋翼飞行器在实际飞行中存在的模型不确定和外部干扰,设计了基于内外环结构的自适应滑模控制。首先使用牛顿欧拉法建立动力学模型,然后结合自适应方法设计了滑模控制器以实现系统模型不确定和外部干扰存在时的轨迹跟踪并证明了闭环系统的稳定。接着,以反映控制性能的指标为适应度函数,利用差分进化算法整定滑模控制器参数。最后通过仿真验证差分进化算法的性能以及自适应滑模控制器的性能,仿真结果表明,经差分进化算法整定的自适应滑模控制器在模型不确定和外部干扰的影响下具有良好的轨迹跟踪性能。Aiming at the model uncertainty and external disturb of the quadrotor in actual flight,an adaptive slid-ing mode control based on the inner and outer control structure is designed.First,the dynamic model was established using Newton-Euler method,then the sliding mode controller was designed with the adaptive method to achieve the trajectory tracking when the system model was uncertainty and external disturb existed,and the stability of the closed-loop system was proved.Then,taking the index reflecting the control performance as the fitness function,the differen-tial evolution algorithm was used to tune the parameters of the sliding mode controller.Finally,the performance of the differential evolution algorithm and the performance of the adaptive sliding mode controller were verified through simu-lation.The simulation results show that the adaptive sliding mode controller tuned by the differential evolution algo-rithm has good trajectory tracking performance under the influence of model uncertainty and external disturb.

关 键 词：四旋翼飞行器 滑模控制 自适应控制 差分进化算法 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]