持续风补偿下四旋翼无人机滑模轨迹跟踪控制  

Sliding mode trajectory tracking control of quadrotor UAV under continuous wind compensation

作　　者：仇翔[1] 郑潇 姚奕 文颖 张文聪 QIU Xiang;ZHENG Xiao;YAO Yi;WEN Ying;ZHANG Wencong(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《浙江工业大学学报》2023年第5期544-552,共9页Journal of Zhejiang University of Technology

基　　金：国家级大学生创新训练项目(202110337035);浙江省新苗计划项目(2021R403040)。

摘　　要：针对四旋翼无人机(Unmanned aerial vehicle,UAV)在轨迹跟踪过程中存在持续风干扰问题,设计了一种双闭环滑模控制方法。首先,依据四旋翼无人机系统欠驱动特性,将其分为系统位置环和姿态环;其次,基于风扰观测器,采用连续滑模控制算法并设计持续风补偿器,实现无人机位置信息在持续风干扰下的稳定跟踪;再次,采用映射自适应滑模控制算法并同样设计持续风补偿器,实现无人机姿态信息在持续风干扰下的稳定跟踪;最后,与传统比例积分微分(Proportional integral derivative,PID)控制进行仿真对比,验证了该控制方法的有效性和优越性。In view of the problem of continuous wind interference during the trajectory tracking of quadrotor UAV,a double closed-loop sliding mode control strategy is designed.First,according to the underactuated characteristics of the quadrotor UAV system,it can be divided into system position loop and attitude loop.Then,based on the wind disturbance observer,the continuous sliding mode control algorithm is adopted and the continuous wind compensator is designed to realize the stable tracking of the position information of the UAV under the continuous wind disturbance.The mapping adaptive sliding mode control algorithm is used and the continuous wind compensator is also designed to realize the stable tracking of the UAV attitude information under the continuous wind interference.Finally,compared with the traditional Proportional integral derivative(PID)control simulation,the effectiveness and superiority of this control method have been verified.

关 键 词：持续风扰 滑模控制 四旋翼无人机 轨迹跟踪 

分 类 号：V249[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]