电光与控制, 2020, 27 (7): 58, 网络出版: 2021-01-19
四旋翼飞行器的混合轨迹跟踪控制算法
A Hybrid Trajectory Tracking Control Algorithm for a Quadrotor Aircraft
四旋翼飞行器 轨迹跟踪控制 终端滑模控制 线性自抗扰控制 飞行试验 quadrotor aircraft trajectory tracking control terminal sliding mode control linear active disturbance rejection control flight experiment
摘要
针对含有建模不确定性与外界扰动下的四旋翼飞行器轨迹跟踪控制问题, 提出了一种结合连续快速非奇异终端滑模控制与线性自抗扰控制的控制策略。用Newton-Euler方程获得四旋翼飞行器的动力学模型, 将其分成内环与外环两个控制回路: 内环采用连续快速非奇异终端滑模控制来实现姿态角的快速收敛; 外环采用线性自抗扰控制来抑制外界干扰和实现高精度轨迹跟踪。同时, 分析了内外环控制器的稳定性。最后, 通过仿真算例与飞行试验验证了所提控制策略的有效性。结果表明, 所提方法响应速度快, 具有较好的鲁棒性、较高的控制精度与较强的抗干扰能力, 能够满足四旋翼飞行器轨迹跟踪控制的需求。
Abstract
This paper proposes a hybrid control algorithm combining a fast continuous non-singular terminal sliding mode control strategy with linear active disturbance rejection control strategy for trajectory tracking control of a quadrotor aircraft with modelling uncertainties and external disturbances.The dynamical model of the quadrotor aircraft is obtained through Newton-Euler equation, and the model is divided into two control loops of an inner loop and an outer loop.The inner loop adopts the fast continuous non-singular terminal sliding mode control to ensure the fast convergence of the attitude.The outer loop uses the linear active disturbance rejection control to reject the external disturbances and realize high-performance trajectory tracking.Meanwhile, the stability of the proposed controller is analyzed.Lastly, the effectiveness of the proposed control strategy is verified by simulation cases and flight tests.The results show that the proposed controller has fast response speed, good robustness, high control accuracy and strong disturbance-rejection ability.It can meet the requirements of quadrotor aircraft trajectory tracking control.
陈晓磊. 四旋翼飞行器的混合轨迹跟踪控制算法[J]. 电光与控制, 2020, 27(7): 58. CHEN Xiaolei. A Hybrid Trajectory Tracking Control Algorithm for a Quadrotor Aircraft[J]. Electronics Optics & Control, 2020, 27(7): 58.