基于变指幂趋近律和高增益观测器的四旋翼模糊滑模控制  

Fuzzy sliding mode control for quadrotor based on variable exponential power reaching law and high gain observer

作　　者：杨舒博 毛剑琳[1] 向凤红[1] 徐峰[3] YANG Shubo;MAO Jianlin;XIANG Fenghong;XU Feng(School of Information Engineering and Automation,Kunming University of Science and Technology,650500 Kunming,China;Honghe Cigarette Factory of Hongyunhonghe Group,652399 Mile,China;School of Mechanical Engineering,University of Science and Technology Beijing,100083 Beijing,China)

机构地区：[1]昆明理工大学信息工程与自动化学院,昆明650500 [2]红云红河集团红河卷烟厂,弥勒652399 [3]北京科技大学机械工程学院,北京100083

出　　处：《应用力学学报》2025年第2期313-322,共10页Chinese Journal of Applied Mechanics

基　　金：云南省重点研发计划资助项目(No.202002AC080001)。

摘　　要：针对四旋翼飞行器在未知干扰下跟踪慢、精度低以及模型耦合性强的问题,提出了一种基于变指数幂次趋近律和高增益观测器的模糊滑模控制策略。首先,设计了一种自适应变指数幂次趋近律,通过趋近律中幂次趋近项和指数趋近项的相互作用,使系统得到较快的趋近时间降低稳态误差;其次,在位置子系统中,采用高增益观测器实现状态估计以抑制耦合;最后,将变论域思想引入自适应模糊控制,在切换控制项设计了一个带有伸缩因子的模糊逼近系数来补偿高增益观测器带来的影响。仿真结果表明,该控制策略能有效削弱抖振,具有较好的动态性能和控制精度;即使在复杂外部干扰的情况下,四旋翼飞行器依然能够迅速按要求进行轨迹跟踪。There are problems of slow tracking,low accuracy and strong model coupling of quadrotors under unknown interference.To solve the problems,a fuzzy sliding mode control strategy based on variable exponential power reaching law and high gain observer is proposed.First,an adaptive variable exponential power approaching law is designed.Through the interaction between the power approaching term and exponential approaching term,the system can obtain a faster approach time and reduce the steady-state error.Secondly,in the position subsystem,a high gain observer is used to implement state estimation and suppress coupling.Then,the idea of variable universe is introduced into adaptive fuzzy control,and a fuzzy approximation coefficient with expansion factor is designed in the switching control item to compensate for the influence brought by the high-gain observer.Simulation results show that with this control strategy,the quadrotor can effectively weaken chattering,and has better dynamic performance and control accuracy.Even in the case of complex external interference,the quadrotor can still quickly track the trajectory as required.

关 键 词：四旋翼飞行器 滑模控制 变指数幂次趋近律 高增益观测器 自适应模糊控制 变论域 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]