基于终端滑模控制的四旋翼无人机编队控制  

Formation Control of Quadrotor UAV Based on Terminal Sliding Mode Control

作　　者：王梓欣 成炜 辛颖 杨子安 黄子豪 WANG Zixin;CHENG Wei;XIN Ying;YANG Zian;HUANG Zihao(Beijing Power Machinery Institute,Beijing 100074;Chinese People s Liberation Army Unit 93145,Shanghai 201109;Shanghai Aerospace Control Technology Institute,Shanghai 201109)

机构地区：[1]北京动力机械研究所,北京100074 [2]中国人民解放军93145部队,上海201109 [3]上海航天控制技术研究所,上海201109

出　　处：《飞控与探测》2023年第3期44-51,共8页Flight Control & Detection

摘　　要：以四旋翼无人机为研究对象,基于终端滑模控制技术,实现了四旋翼无人机系统的编队飞行控制。在构建四旋翼无人机数学模型的基础上,为每架四旋翼无人机设计了广义误差状态,基于广义误差状态提出编队控制目标。为实现编队控制目标,设计了基于终端滑模控制的编队控制器,最终所有四旋翼无人机的广义误差状态收敛到零时即实现期望的编队队形,进一步结合有限时间稳定性理论给出了上述编队控制器有限时间稳定性证明。最后用一个仿真实例验证了所提出算法的有效性,并将提出的控制器与基于线性滑模控制的控制器进行对比,实验证明所提出的控制算法具有更好的编队控制效果。Based on terminal sliding mode control technology,the formation control of quadrotor UAV systems is realized in this paper.The generalized error state is designed for each quadrotor UAV based on the mathematical model,then the formation control objective is proposed based on the generalized error state.In order to achieve the formation control objective,we design formation controllers based on terminal sliding mode control.When the generalized error states of all quadrotor UAVs converge to zero,the desired formation will be achieved.Furthermore,the finite time stability of the above formation controllers is proved based on the finite time stability theory.Finally,a simulation example is used to verify the effectiveness of the proposed algorithm.The controller proposed in this paper is compared with the controller based on linear sliding mode control.The results show that the proposed control algorithm has a better formation control effect.

关 键 词：编队控制 四旋翼无人机 终端滑模控制 多智能体系统 有限时间稳定性 

分 类 号：V323.18[航空宇航科学与技术—人机与环境工程] TP273.3[自动化与计算机技术—检测技术与自动化装置]