基于改进滑模观测器的四旋翼无人机轨迹控制  

Trajectory Control of Quadrotor UAVs Based on Improved Sliding Mode Observer

作　　者：杨洋 苏伟 YANG Yang;SU Wei(School of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin 132000,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132000

出　　处：《电光与控制》2024年第7期20-26,共7页Electronics Optics & Control

基　　金：国家自然科学基金(61973046);吉林省科技发展计划(20200403036SF)。

摘　　要：针对四旋翼无人机在不确定干扰下的轨迹跟踪控制问题,提出一种基于改进滑模观测器的超螺旋控制策略。首先,对传统滑模观测器进行改进并提出快速三阶滑模观测器,该观测器对系统状态和未知干扰的估计更为准确和迅速;然后,在所提观测器的基础上,结合超螺旋理论和非奇异终端滑模理论,设计基于快速三阶滑模观测器的非奇异超螺旋终端滑模控制器,实现对轨迹的跟踪控制,并基于Lyapunov理论证明了控制器的稳定性;最后,通过仿真实验结果对比证明所提策略的响应速度更快、精度更高。A super-twisting control strategy based on improved sliding mode observer is proposed aiming at the problems of trajectory tracking control of quadrotor UAVs under uncertain disturbances.Firstly a high-speed third-order sliding mode observer is proposed by improving the traditional sliding mode observer which can estimate the system state and unknown disturbance more accurately and more quickly.Then based on the proposed observer and also on the basis of super-twisting theory and non-singular terminal sliding mode theory a non-singular super-twisting terminal sliding mode controller based on the high-speed third-order sliding mode observer is designed to realize tracking and controlling of the trajectory.The stability of the controller is proved by using the Lyapunov theory.Finally the simulation results show that the proposed strategy has faster response speed and higher precision.

关 键 词：四旋翼无人机 轨迹控制 快速三阶滑模观测器 非奇异理论 超螺旋理论 终端滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]