摘要
针对六自由度欠驱动四旋翼无人飞行器非线性模型,讨论了四旋翼无人飞行器的姿态和高度控制问题。采用经典PD控制、智能模糊控制、非线性反步法和滑模变结构控制,设计四旋翼姿态和高度控制器,并在Matlab/Simulink环境下进行仿真。仿真结果表明:四种控制方法均能实现四旋翼的姿态稳定和定高悬停;其中,滑模变结构控制具有更好的动态跟踪特性。
The issues involving attitude and altitude control of Quadrotor unmanned air vehicles （UAVs） are discussed in allusion to the nonlinear model of underactuated UAVs in this paper. Classical PD control, intelligent fuzzy control, nonlinear backstepping and sliding-mode variable structure control are adopted in the design of Quadrotor attitude and altitude controllers. The four control methods were simulated under Matlab/Simulation environment. The simulation results show that all these control methods can make the Quadrotor＇s attitude stabilized and let it hover at a desired altitude. The sliding-mode variable structure control method can achieve better tracking performance.
出处
《现代电子技术》
2013年第15期88-90,94,共4页
Modern Electronics Technique
基金
航空基金(20125853035)
关键词
非线性模型
模糊控制
反步法
滑模控制
姿态控制
nonlinear model
fuzzy control
backstepping
sliding-mode control
attitude control
