风扰下变质量四旋翼轨迹跟踪控制  

Trajectory Tracking Control of Variable Mass Quadrotor Under Wind Disturbance

作　　者：蔡晓军[1] 郑柏超[1,2] CAI Xiaojun;ZHENG Bochao(School of Automation,Nanjing University of Information Science and Technology,Nanjing 210044,China;Jiangsu Collaborative Innovation Center on Atmospheric Environment and Equipment Technology,Nanjing 210044,China)

机构地区：[1]南京信息工程大学自动化学院,南京210044 [2]江苏省大气环境与装备技术协同创新中心,南京210044

出　　处：《自动化与仪表》2024年第8期104-111,共8页Automation & Instrumentation

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

摘　　要：针对存在风扰和变质量负载扰动的四旋翼无人机轨迹跟踪控制问题,提出了一种基于降阶广义比例积分观测器的动态面模糊滑模控制方法。首先,建立含风扰和变质量负载扰动的四旋翼无人机系统模型;其次,结合四旋翼无人机系统模型设计降阶广义比例积分观测器估计外界风扰;再次,设计动态面滑模控制器,并采用模糊控制模糊化切换增益,以此有效地抑制抖振;然后,通过Lyapunov稳定性证明四旋翼无人机系统的稳定性;最后,通过Matlab-Simulink进行3种控制方法的仿真比较。仿真结果表明,当存在风扰和变质量负载扰动时,该控制方法抗风扰能力更强,稳定性更好,位姿跟踪精度更高。A dynamic surface fuzzy sliding mode control method based on reduced-order generalized proportional integral observer is proposed for the trajectory tracking control of quadrotor UAV with wind disturbance and variable mass load disturbance.Firstly,a quadrotor UAV system model with wind disturbance and variable mass load disturbance is established.Secondly,reduced-order generalized proportional integral observers are designed to estimate the external wind disturbance in combination with the quadrotor UAV system.Thirdly,the dynamic surface sliding mode controllers are designed and fuzzy switching gains are used to suppress chattering effectively.Then,the stability of the quadrotor UAV system is proved by Lyapunov stability.Finally,the three control methods are compared by Matlab-Simulink.The simulation results show that the proposed control method has stronger wind disturbance resistance,better stability and higher pose tracking accuracy when wind disturbance and variable mass load disturbance exist.

关 键 词：四旋翼无人机 变质量 风扰 降阶广义比例积分观测器 动态面滑模控制 模糊控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]