电光与控制, 2019, 26 (6): 75, 网络出版: 2021-01-05   

基于观测器的四旋翼飞行器自适应滑模姿态控制

Adaptive Sliding Mode Attitude Control for Quad-Rotor Aircrafts Based on Observer
作者单位
1 太原工业学院, 太原 030008
2 中北大学机械工程学院, 太原 030051
摘要
针对存在建模不确定性和外部干扰时四旋翼飞行器的姿态控制问题, 提出一种基于观测器的自适应滑模控制算法。在建立四旋翼飞行器姿态误差动力学模型的基础上, 通过全局渐近收敛观测器获取系统的未知状态反馈量, 利用自适应滑模控制抑制系统的不确定性和干扰, 构建一种基于观测器的自适应滑模姿态控制器。基于Lyapunov的稳定性分析表明, 该方法的跟踪误差是一致最终有界的。数值仿真实验结果表明, 与现有滑模控制方法相比, 所提方法具有更好的姿态跟踪性能和较高的抗干扰鲁棒性, 能有效保证飞行器的姿态跟踪控制性能。
Abstract
Aiming at the attitude control problem of quad-rotor aircraft with modeling uncertainties and external disturbances, an observer based adaptive sliding mode control algorithm is proposed. Based on the establishment of attitude error dynamics model of quad-rotor aircraft, the unknown state feedback of the system is obtained by the global asymptotic convergence observer, the adaptive sliding mode control is used to suppress the uncertainty and interference of the system. Finally, an adaptive sliding mode attitude, controller based on observer is constructed.The stability analysis based on Lyapunov shows that the tracking error of the method is uniform and ultimately bounded. The results of numerical simulation show that, compared with the existing sliding mode control method, the proposed method has better attitude tracking performance and higher anti-disturbance robustness. It can effectively guarantee the attitude tracking control performance of the aircraft with higher robustness.

王雯, 王日俊, 张建. 基于观测器的四旋翼飞行器自适应滑模姿态控制[J]. 电光与控制, 2019, 26(6): 75. WANG Wen, WANG Rijun, ZHANG Jian. Adaptive Sliding Mode Attitude Control for Quad-Rotor Aircrafts Based on Observer[J]. Electronics Optics & Control, 2019, 26(6): 75.

本文已被 2 篇论文引用
被引统计数据来源于中国光学期刊网
引用该论文: TXT   |   EndNote

相关论文

加载中...

关于本站 Cookie 的使用提示

中国光学期刊网使用基于 cookie 的技术来更好地为您提供各项服务,点击此处了解我们的隐私策略。 如您需继续使用本网站,请您授权我们使用本地 cookie 来保存部分信息。
全站搜索
您最值得信赖的光电行业旗舰网络服务平台!