执行器饱和情况下四旋翼无人机的快速终端滑模控制  

Fast Terminal Sliding Mode Control for Quadrotor Unmanned Aerial Vehicle with Actuator Saturation

作　　者：马亚丽[1] 宗群[1] 董琦[1] 尤明[1] 

机构地区：[1]天津大学电气与自动化学院,天津300072

出　　处：《信息与控制》2017年第2期204-210,217,共8页Information and Control

基　　金：国家863计划资助项目(2013AA122602)

摘　　要：针对四旋翼无人机提出了一种基于多环控制结构的非奇异快速终端滑模控制方法,以提高四旋翼无人机的收敛速度并解决一般快速终端滑模中存在的奇异问题.在实际应用中,四旋翼无人机存在模型不确定、外部干扰、执行器饱和等问题.首先,在位置环和姿态环考虑系统模型不确定和外部干扰的情况,结合自适应方法设计非奇异快速终端滑模控制器,抑制不确定和扰动的影响;然后,在转速环考虑执行器饱和问题,将饱和项当作加性扰动,设计滑模干扰观测器对扰动项进行估计,最后,设计了基于干扰观测器的滑模控制器,实现有限时间内收敛.通过李亚普诺夫方法证明了闭环系统的稳定性.仿真结果表明所设计的控制器在模型不确定、外部干扰和执行器饱和的影响下能够保证控制误差快速收敛.We propose a nonsingular fast terminal sliding mode control method for quadrotor unmanned aerial vehicle based on multi-loop control structure,which improves the convergence rate and solves the singular problem in the traditional terminal sliding mode control. Many problems exist in practical applications of quadrotor unmanned aerial vehicle,such as model uncertainties,external disturbances,and actuator saturation. First,considering the model uncertainties and external disturbances in the position and the attitude loops,we design a nonsingular fast terminal sliding mode controller with the use of the adaptive method to handle uncertainties and disturbances. Then,we consider the actuator saturation problem in the rotate speed loop. The saturation is treated as additive disturbance and is estimated by a sliding mode disturbance observer. Finally,we design a sliding mode controller based on the disturbance observer to achieve convergence within a finite time. The stability of the closed-loop system is proven by the Lyapunov method. Simulation results show that the proposed control scheme can guarantee fast error convergence regardless of model uncertainties,external disturbances,and actuator saturation.

关 键 词：四旋翼无人机非奇异快速终端滑模执行器饱和自适应干扰观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]