基于高增益观测器的四旋翼无人机轨迹跟踪控制

Trajectory tracking control of quadrotor UAV based on high-gain observer

为了实现四旋翼无人机对给定姿态的快速跟踪,基于Terminal滑模控制方法设计了一种四旋翼无人机的姿态控制器,在设计滑模面时引入非线性函数来保证跟踪误差在有限时间内收敛。考虑在线速度未知的情况下,通过设计高增益观测器来对无人机速度进行观测,并利用所观测的信号设计位置控制器。最后利用Lyapunov理论证明了系统的稳定性。仿真结果表明,四旋翼无人机在线速度不可测的情况下,仍可进行轨迹跟踪控制。

An attitude controller for quadrotor UAV was designed based on terminal sliding mode control method to ensure a rapid orientation tracking,where a nonlinear function was introduced to design a terminal sliding mode surface,so that the tracking error could converge to zero in finite time. Considering the linear velocity was unavailable for feedback,a high-gain observer was designed to estimate the linear velocity of the quadrotor UAV. With the estimate value of the linear velocity,a position controller was designed. Based on Lyapunov theory,the stability of the closed-loop system was proved. Simulation results show that a rapid trajectory tracking performance is guaranteed without linear velocity feedback.