针对四旋翼无人机的欠驱动、非线性、强耦合和易受外界因素干扰等特性, 为保证其控制品质与精度要求, 提出一种基于快速终端滑动模态控制(TSMC)的控制方法。建立四旋翼无人机在紊流风场作用下的动力学数学模型, 采用可自动消除抖振的全局快速终端滑模的控制算法计算各个控制律, 引入过渡输入控制律以实现欠驱动耦合控制, 并通过Matlab/Simulink软件对系统模块进行构建和仿真。仿真结果表明, 该快速终端滑模控制器算法具有可靠性高、收敛速度较快和鲁棒性较强的特点, 能够有效地完成四旋翼无人机的飞行任务。

Considering the characteristics of the quad-rotor Unmanned Aerial Vehicle (UAV) such as under-actuation, non-linearity, strong coupling and susceptibility to external disturbances, a control method based on fast Terminal Sliding Mode Control (TSMC) is proposed to guarantee the UAV's control quality and precision requirements. The dynamic mathematical model of the quad-rotor UAV in the turbulent wind field is built. The control algorithm of the global fast terminal sliding mode which can automatically eliminate the vibration is used to calculate each control law, and the under-driven coupling control is realized by introducing the control law of transitional input. The system module is constructed and simulated by using Matlab/Simulink software. The simulation results show that the fast TSMC controller algorithm has high reliability, fast convergence speed and strong robustness, which can effectively complete the quad-rotor UAV's flight tasks.