标题:
四旋翼飞行器自适应滑模控制方法研究Adaptive Sliding Mode Controller for Quad Rotor Aircraft
作者:
朱培, 王立峰
关键字:
四旋翼机器人, 滑模控制, 自适应控制, 鲁棒性Quad Rotor Aircraft, Adaptive Sliding Mode Control, adaptive Control, Robustness
期刊名称:
《Dynamical Systems and Control》, Vol.4 No.1, 2015-01-12
摘要:
四旋翼飞行器的模型参数不确定性及外界扰动，使控制系统的设计具有挑战性。本文提出了一种自适应滑模控制方法，应用于四旋翼控制系统的快回路和慢回路中实现航点轨迹跟踪。在滑模控制保证系统的鲁棒性前提下，引入自适应控制单元来补偿模型参数不确定性和外界扰动，并用Lyapunov理论证明了系统的渐进稳定。仿真结果表明该方法能够良好的跟踪参考高度和轨迹。
It is a challenge to design the controller for quadrotor aerial robot because of its uncertainty of model parameter and extern disturbance. The paper presents an adaptive sliding mode controller which is applied to the slow and fast loop control of quadrotor for waypoints trajactory tracking. On the premise of sliding mode control to ensure the control robustness, the adaptive control variables are used to compensate the parameter uncertainty and extern disturbance. Base on the Lyapunov theory, the global asymptotic stability is validated. It behaves perfectly at the reference altitude and trajectory track in simulation.