搭载时变负载的四旋翼无人机位置与姿态控制  

Position and attitude control for quadrotor uav carrying time-varying loads

作　　者：唐永庆 瞿胤 朱飞飞 陈大伟 TANG Yongqing;QU Yin;ZHU Feifei;CHEN Dawei(Lishui Power Supply Company,State Grid Zhejiang Electric Power Co.,Ltd.Lishui 323000,China)

机构地区：[1]国网浙江省电力有限公司丽水供电公司,丽水323000

出　　处：《航天控制》2025年第1期47-53,共7页Aerospace Control

摘　　要：针对存在外部干扰与时变负载的四旋翼无人机位置与姿态控制问题,基于参数自适应方法和滑模控制原理,提出了一种参数自适应滑模控制方法。该方法通过采用参数自适应方法对四旋翼无人机存在的外部干扰和时变负载进行估计补偿,使得四旋翼无人机具有抵抗时变负载变化造成扰动和实现高精度位置与姿态控制的能力。最后,通过李雅普诺夫稳定性理论和仿真结果验证了所提方法能有效降低外部干扰与时变负载对控制系统造成的不利影响。According to the position and attitude control problem of quadrotor unmanned aerial vehicle(UAV)with external disturbances and time-varying loads,a parameter adaptive sliding mode control method is proposed,which is based on the parameter adaptive method and sliding mode control theory.The external disturbances and time-varying loads of quadrotor UAV are estimated and compensated by using parameter adaptive method so that the quadrotor UAV can be enabled to resist the disturbances caused by changes in time-varying loads and the capability of high-precision position and attitude control can be achieved.In the end,the Lyapunov stability theory and simulation results fully verify that the pro⁃posed method can effectively degrade the adverse effects of unknown disturbances and time-varying loads on the control system.

关 键 词：四旋翼无人机 时变负载 参数自适应方法 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]