四旋翼无人机风场扰动轨迹控制器设计

Trajectory controller design for quadrotor UAVs on wind field disturbance

针对四旋翼无人机飞行时受风场扰动影响大的问题,以及在任务场景中对期望姿态角有约束的要求,提出了一种具有输出指令限制的自适应滑模位置控制器,将位置控制器指令转换成为期望姿态指令后,能够保证所生成的期望姿态有界,且能够有效抑制风场扰动对轨迹跟踪的影响。针对旋转矩阵形式表示的期望姿态指令,设计了一种SO(3)滑模姿态跟踪控制器,并分别用Lyapunov稳定性理论进行了分析,得到了全局稳定性的结论。最后进行了无人机在风场中盘旋爬升飞行的仿真,结果表明控制器具有较好的轨迹跟踪性能。

For the problems of wind field disturbance in quadrotor UAVs flight,and the constraint of attitude angle in the task scenario,this paper proposes a self-adaptive sliding mode position controller with output constrains。With the position controller transferred to desired attitude command,the controller could guarantee that the created desired attitude has a boundary,and could effectively inhibit the wind field influence on trajectory tracking. For the desired attitude represented by the rotation matrix,a SO（ 3） sliding mode attitude tracking controller is designed. And the stability is analyzed by Lyapunov stability theory,the resulted conclusion is global. Finally,the simulation of spiral climb in wind field has been carried on,the results show that the controller has good trajectory tracking performance.