引用本文:李俊芳,李峰y,吉月辉,等.四旋翼无人机轨迹稳定跟踪控制[J].控制与决策,2020,35(2):349-356
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四旋翼无人机轨迹稳定跟踪控制
李俊芳, 李峰y, 吉月辉, 高强
(天津理工大学电气电子工程学院,天津300384)
摘要:
针对四旋翼无人机轨迹稳定跟踪控制问题,为抑制外界扰动和参数不确定性的影响,设计一种双环鲁棒控制系统.首先,基于动态面内模法设计输出调节器进行位置控制,可解决系统的渐近跟踪及干扰抑制问题;其次,利用高阶滑模设计姿态控制器,可实现全局有限时间收敛,消除系统抖振和相对阶的限制;再次,为进一步提高控制精度,采用一种鲁棒精确微分器对姿态角指令信号进行精确求导;最后,对系统稳定性进行严格的数学证明,并与PID控制和传统滑模控制进行仿真对比,结果验证了所提出控制策略的优越性和鲁棒性.
关键词:  四旋翼无人机  输出调节  动态面  高阶滑模
DOI:10.13195/j.kzyjc.2018.0639
分类号:TP273
基金项目:国家自然科学基金项目(61603274).
Trajectory stable tracking control of quadrotor UAV
LI Jun-fang,LI Feng,JI Yue-hui,GAO Qiang
(School of Electrical and Electronic Engineering,Tianjin University of Technology,Tianjin300384,China)
Abstract:
Aiming at the problem of stable tracking control of quadrotor trajectory, a double-loop robust control system is designed to suppress the influence of external disturbance and parameter uncertainty. Firstly, the output regulator is designed for position control based on the dynamic surface internal model method, which can solve the problems of asymptotic tracking and disturbance rejection. Then, the higher order sliding mode is used to design the attitude controller, which can realize the global finite-time convergence, eliminate the chattering and relative order limitation of the system. In order to further improve the control precision, a robust accurate differentiator is adopted to accurately differentiate the attitude angle command signal. Finally, the strict mathematical proof for the stability of the system is given, and compared with PID control and traditional sliding mode control, the simulation results verify the superiority and robustness of the proposed control strategy.
Key words:  quadrotor  output regulation  dynamic surface  higher order sliding mode

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