基于分数阶Super-Twisting滑模的四旋翼无人机轨迹跟踪控制  

Trajectory Tracking Control of Quadrotor UAV Based onFractional-Order Super-Twisting Sliding Mode

作　　者：高鹏 郑柏超[1,2] 桂洋 GAO Peng;ZHENG Bochao;GUI Yang(School of Automation,Nanjing University of Information Science and Technology,Nanjing 210000,China;Jiangsu Collaborative Innovation Center on Atmospheric Environment and Equipment Technology,Nanjing 210000,China)

机构地区：[1]南京信息工程大学自动化学院,南京210000 [2]江苏省大气环境与装备技术协同创新中心,南京210000

出　　处：《电光与控制》2023年第11期13-18,共6页Electronics Optics & Control

基　　金：国家自然科学基金(61973169);江苏省自然科学基金(BK20201392);江苏高校“青蓝工程”人才项目(R2021Q04)。

摘　　要：针对存在外界干扰的四旋翼无人机轨迹跟踪问题,提出了一种分数阶Super-Twisting滑模控制器。基于双闭环控制策略,将四旋翼无人机系统解耦为位置子系统和姿态子系统;利用Super-Twisting算法设计出滑模控制器,可在消除系统抖振的同时实现全局有限时间收敛;为了进一步提高系统的控制精度和抗干扰性,引入了分数阶微分积分算子;最后,与传统Super-Twisting滑模和积分终端滑模进行的仿真对比,验证了所提算法的优越性。A fractional-order,Super-Twisting sliding mode controller is proposed for the trajectory tracking of quadrotor UAVs under external disturbance.Firstly,based on the double closed-loop control strategy,the quadrotor UAV system is decoupled as a position subsystem and an attitude subsystem.Secondly,the sliding mode controller is designed by using the Super-Twisting algorithm,which can realize global finite-time convergence and eliminate system chattering.In order to further improve the control precision and anti-interference performance of the system,a fractional-order differential and integral operator is introduced.Finally,a simulation is conducted in comparison with the Super-Twisting sliding mode and the integral terminal sliding mode,and the superiority of the proposed algorithm is verified.

关 键 词：四旋翼无人机 分数阶滑模 Super-Twisting 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]