小型四旋翼无人机建模与有限时间控制

Modeling and finite-time control for quad-rotor mini unmanned aerial vehicles

本文首先介绍了一种小型四旋翼无人机的设计过程,从机架设计、动力匹配、机载控制器、传感器、无线通信等多个方面进行了较为详尽的阐述.采用牛顿―欧拉法对四旋翼无人机进行动力学分析,完成了六自由度数学模型的推导.进一步对系统的模型参数进行了测量和计算,并给出了结果.在此基础上,为了满足无人机快速跟踪性能的要求,本文基于快速终端滑模的思想,进行了闭环控制器的设计,并给出了基于Lyapunov函数的稳定性证明.控制器采用分环控制的结构形式,内环为姿态控制,外环为位置控制.最后结合设计的四旋翼无人机,给出的仿真结果验证了控制算法的有效性.

We start by giving the detailed design process for a quad-rotor mini unmanned aerial vehicle, including the airframe design, propulsion system, autopilot, sensors and wireless communication. By using Newton-Euler＇s laws, we analyze the dynamics of such an aerial vehicle to derive for it a 6-degrees mathematical model with parameter values measured and calculated. To meet the requirement on fast tracking performance, we develop a closed-loop control system based on the concept of fast terminal sliding-mode control, and prove its stability by using Lyapunov function. This control system is composed of two nested control loops： the inner loop for the attitude control and the outer loop for the position control. Simulation results show that the proposed method can provide robustness and good tracking performance for the designed quad-rotor mini unmanned aerial vehicle.