基于变指数干扰观测器的无人机非奇异终端滑模控制

Non-singular Terminal Sliding Mode Control of Unmanned Aerial Vehicles Based on Variable Exponential Disturbance Observer

针对四旋翼无人机系统在受干扰下的跟踪问题,以及姿态子系统的扰动问题和滑模控制时出现的抖振缺陷,基于连续快速非奇异终端滑模控制算法,给出一种适用于有扰动姿态子系统的变指数收敛干扰观测器的趋近率滑模控制器。首先,针对传统滑模控制中存在的快速性问题,采用变指数收敛干扰观测器来对扰动进行补偿和预测。然后利用姿态跟踪误差变化率的估计信息,构建快速非奇异终端滑模面。提高轨迹跟踪误差的收敛速度,并利用Lyapunov分析方法验证姿态跟踪误差在有限时间内收敛,仿真结果证实了这一方法的有效性,使用滑模控制和其改进方法设计四旋翼无人机系统控制器。

Addressing the tracking issues of a quadcopter UAV system under interference,as well as the disturbances in the attitude subsystem and the chattering defects during sliding mode control,we propose a convergence rate sliding mode controller with a variable exponential convergence disturbance observer tailored for the disturbed attitude subsystem,based on a continuous fast non-singular terminal sliding mode control algorithm.Firstly,to address the issue of speed in traditional sliding mode control,a variable exponential convergence disturbance observer is adopted to compensate for and predict disturbances.Then,using the estimated information of attitude tracking error rate of change,a fast non-singular terminal sliding surface is constructed.This enhances the convergence rate of trajectory tracking errors,and the Lyapunov analysis method confirms their convergence within a finite time.The simulation results validate the effectiveness of this approach.Designing a controller for a quadcopter UAV system using sliding mode control and its improved methods.