基于高阶滑模观测器的微分滑模四旋翼无人机控制研究

Study on Sliding-Mode Differentiation Quadrotor UAV Based on High-Order Sliding-Mode Observer

针对四旋翼无人机鲁棒控制问题,提出了一种基于高阶滑模观测器的内环与外环控制器设计方法。首先,建立了四旋翼无人机模型的运动学与动力学方程,通过反馈线性技术将模型分解为线性部分与非线性部分。然后,在输入信号延迟的基础上推导了相应的滑模控制律,由分离定理分别设计了观测器与控制器,通过扰动识别减少需要观测的状态变量,继而减少了测量传感器,同时对观测器以及整个闭环系统稳定性进行了证明。仿真验证了所提出的控制算法在提高四旋翼无人机姿态控制系统精度以及鲁棒性方面的有效性。

Aiming at the problem of robust control of quadrotor UAV, a sliding mode controller de -sign method based on high order sliding-mode observer is proposed. Firstly, the kinemat ics and dynamics equations of the quadrotor UAV model are built, and the model by using the feedback linear ization tech-no-logy is decomposed into linear part and nonlinear part, then, the corresponding sl iding mode control law is derived on the basis of the delay of the input signal . The observer and the controller are designed separately by the separation theorem. The state variables which need to be observed are reduced by dis-turbance ident if ication, then the sensors are reduced, and the stability of the whole closed loop system and the observer is proved. The simulation results show that the proposed control algorithm can improve the attitude control accuracy and robustness of the quadrotor UAV.