基于组合滑模的升力受限四旋翼轨迹跟踪

The Trajectory Tracking of a Quadrotor with Constraint Lift Based on Combined Sliding Mode Control Method

针对升力受限的四旋翼无人机提出一种组合滑模控制器设计方法,以解决实际飞行中输入饱和、快速轨迹跟踪、机体参数和结构不确定性等问题。首先,将四旋翼无人机模型划分为全驱动子系统和欠驱动子系统两部分。然后,全驱动子系统采用非奇异快速终端滑模控制方法,欠驱动子系统采用双幂次滑模趋近律的滑模控制,进一步提高收敛速度,提升动态运动品质,增强抗干扰能力。最后,基于Lyapunov原理对子系统进行了收敛特性和稳定性分析。通过航点跟踪和连续轨迹跟踪的仿真实验,结果表明该控制方法的快速性、鲁棒性和优越性。

Aiming at the quadrotor with constraint lift,a combined sliding mode controller design method is proposed to solve the problems such as input saturation,fast trajectory tracking,body parameters and structured uncertainty in actual flight.Firstly,the dynamic model of the quadrotor is divided into a fully-actuated subsystem and an under-actuated subsystem.Then,a non-singular fast terminal sliding mode control method is used in the fully-actuated subsystem.A sliding mode control method with the double power sliding mode reaching law is used in the under-actuated subsystem.It further improves the convergence speed,promotes the quality of dynamic motion and enhances the ability of anti-interference.Finally,the convergence characteristics and stabilities of the two subsystems are analyzed based on Lyapunov theory.Through simulation experiments of waypoint tracking and continuous trajectory tracking,the results show the rapidity,robustness and superiority of this control method.