基于动态逆和动态滑模的双通道机动飞行控制

Dual Channel Maneuver Flight Control Based on Dynamic Inverse and Dynamic Sliding Mode

针对微小型四旋翼飞行器大角度快速机动飞行控制问题,提出一种基于动态逆与滑模控制的新型双通道机动飞行控制方法。通过滑模控制与动态逆结合,使系统对模型的不确定性及气动干扰有较好的鲁棒性,动态滑模有效地避免了系统抖振,且构造新的滑模面和飞行器姿态四元数正则模型,提高了控制精度,解决了飞行器奇异问题;动态逆则改善了系统的动态响应特性,在逆系统设计中,由于系统具有零动态,给出了该零动态的稳定性分析。仿真结果证明了控制方案的控制效果。

In order to solve the flight control problem of mini quadrotor with large angle and fast maneuver, a new dual channel maneuver flight control method based on dynamic inverse （DI） and sliding mode control （SMC） is proposed. By combining SMC and DI, this method makes the system robust to the model uncertainty and aerodynamic interference. The dynamic SMC effectively reduces system＇s chattering. New sliding mode surface and quaternion regular model of aircraft attitude are built to improve the control precision and resolve the singular problem of aircraft. The DI improves the system＇s dynamic response, and the stability analysis of zero dynamics is given in the inverse system design. The simulation results show the effectiveness of the proposed control scheme.