多源不确定条件下的飞行机器人模糊自适应非奇异终端滑模控制  

Fuzzy Adaptive Non-Singular Terminal Sliding Mode Control for Aerial Robots with Multi-Source Uncertainty

作　　者：曹中森 陈彦杰 刘鑫成 赵志刚 刘建蓝 CAO Zhong-sen;CHEN Yan-jie;LIU Xin-cheng;ZHAO Zhi-gang;LIU Jian-lan(Exploration and Survey Business Department Fujian Yongfu Power Engineering Co.,Ltd.,Fuzhou 350108;School of Mechanical Engineering and Automation Fuzhou University,Fuzhou 350108)

机构地区：[1]福建永福电力设计股份有限公司勘测事业部,福建福州350108 [2]福州大学机械工程及自动化学院,福建福州350108

出　　处：《制造业自动化》2025年第4期1-10,共10页Manufacturing Automation

基　　金：国家自然科学基金面上项目(62273098)。

摘　　要：研究了由建模误差和环境干扰引起的未知项下飞行机器人的稳定控制问题,提出了一种基于未知项估计器用以实现飞行机器人稳定运动的模糊自适应非奇异终端滑模控制器。其中,采用模糊估计器实现对飞行机器人建模不确定项和环境干扰的估计,利用稀疏模糊规则库并结合模糊规则插值方法提高了模糊估计器的估计精度和收敛速度。基于模糊规则插值估计器,提出了一种新的模糊自适应非奇异终端滑模控制器,用以保证飞行机器人在不确定条件下的稳定控制。利用李雅普诺夫理论分析了所提估计器和控制器的稳定性,通过对比仿真实验验证了该控制器的性能和可行性,证明了该控制器在不确定条件下飞行机器人的稳定控制能力和良好的鲁棒性。The stable control problem of aerial robots under uncertainties arising from modeling errors and environmental disturbances is investigated.A novel fuzzy adaptive non-singular terminal sliding mode controller is proposed for an aerial robot to achieve stable motion through the use of a fuzzy rule interpolation estimator.Particularly,uncertainty modeling and environmental disturbance are implemented by a fuzzy estimator,where fuzzy rule interpolation(FRI)is adopted to improve the accuracy and converge rate of estimator with a sparse fuzzy rule base.Based on the fuzzy rules interpolation estimator,a novel fuzzy adaptive non-singular terminal sliding mode controller(NTSMC)is introduced to ensure stable control of aerial robots under uncertainties.The stability of the proposed estimator and controller is analyzed through the Lyapunov theory.The feasibility and the performance of the proposed controller are validated via comparative experimental simulations,demonstrating its stable control ability and good robustness of aerial robots working under uncertainties.

关 键 词：飞行机器人 模糊规则插值 非奇异终端滑模控制 不确定项估计 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]