基于ESO的六旋翼无人机反演滑模控制器设计

Backstepping sliding mode controller design for six-rotor UAV based on ESO

针对六旋翼无人机建模过程中存在非建模动态、飞行过程中存在不确定外界干扰的轨迹跟踪控制问题,设计了一种基于扩张状态观测器的反演滑模控制器。首先,利用扩张状态观测器(ESO)进行扰动项的实时估计和系统状态的在线观测;然后,结合反演和滑模控制理论方法设计控制器,以消除系统不确定性和外界干扰带来的影响,并基于Lyapunov稳定性理论证明了闭环系统跟踪误差最终有界收敛;最后,通过仿真试验和飞行试验验证了所设计飞行控制算法的有效性。研究结果表明,存在不确定外界干扰的情况下,所设计的方法依然可以实现预定轨迹的稳定跟踪,有效提高了其抗干扰能力。

For the trajectory tracking control problem with the non-modeling dynamics of the six-rotor UAV during the modeling process and uncertain external disturbances during flight,the backstepping sliding mode controller based on the extended state observer(ESO)is proposed.Firstly,the ESO is used to realize the real-time estimation of the total disturbance term and the online observation of the system states.Then,the controller is designed in conjunction with the BC and SM control method to eliminate influence of the uncertainty.The final bounded convergence of the tracking error of the closed-loop system is proved based on Lyapunov stability theory.Finally,the effectiveness of the designed control algorithm is verified by simulation experiments and flight tests.The research results show that the designed method can realize the stable tracking of the expected trajectory in case of uncertain external interference,and improve its anti-interference ability effectively.