摘要
针对四旋翼飞行器的欠驱动滑模控制对飞行器模型依赖严重问题、飞行器数学模型的特点与姿态及位置控制问题,提出了一种滑模控制算法。将飞行器整体控制分为内环控制和外环控制两部分,设计不依赖精确数学模型的滑动模。该算法采用高阶滑模削弱抖振,从而实现四旋翼飞行器的稳定控制,同时也提高了控制的精度,消除了相对阶的限制。仿真和实验结果表明,相比于传统的PID控制器,所设计的控制器对未知扰动具有较好的鲁棒性,并能够实现4 s内完成定点定姿态飞行,验证了算法的有效性。
Aiming at solving the problem that the underactuated sliding-mode control of quadrotor are heavily rely on aircraft model,the feature of mathematical model,attitude and position,this paper proposes a high-order sliding-mode control algorithm. The overall control of quadrotor is divided into inside loop and outside loop, the design of sliding-mode does not rely on accurate mathematical model. The kind of algorithm based on high-order sliding-mode has a better effect on chattering reduction. It also has a more robust control on quadrotor,rises the precision of control,and reduce the limitation of relative degree at the same time. Simulation and experimental results show that, compared to traditional PID controller,the high-order sliding-mode controller has a better robustness to the unknown disturbance,it can achieve fixed point and fixed attitude flight in 4 seconds,and it also verify the validity of the algorithm.
出处
《火力与指挥控制》
CSCD
北大核心
2015年第9期147-151,共5页
Fire Control & Command Control
基金
河南省科技厅基金资助项目(112102310359
112102210473)
关键词
四旋翼建模
四旋翼飞行器控制
高阶滑模控制
抖振削弱
quadrotor modeling
quadrotor control
high-order sliding mode control
chattering reduction
