基于超扭曲算法的鲁棒自适应四旋翼控制器

A Robust Adaptive Controller for Quadrotor Aircraft Based on Super Twisting Algorithm

针对四旋翼在存在外部未知干扰及具有模型不确定性情况下的姿态控制问题,设计一种基于超扭曲算法的鲁棒自适应四旋翼控制器。该设计方法将超扭曲算法与鲁棒自适应控制结合,使用超扭曲算法抑制系统抖振现象,鲁棒自适应算法能有效补偿系统模型的不确定性,增强系统的抗干扰性能;构造Lyapunov函数,证明四旋翼飞行器闭环系统的稳定性。对所设计的控制器进行仿真,搭建四旋翼飞行器平台进行飞行实验,以验证设计的控制器。仿真结果表明,基于超扭曲算法控制的四旋翼系统具有较快的收敛速度和较强的鲁棒性,飞行实验验证了所提控制策略的可行性,可实现四旋翼的稳定控制。

To realize the attitude control of a quadrotor aircraft with uncertain model in the presence of unknown external interferencesa robust adaptive controller based on the super twisting algorithm is proposed.This method combines the super twisting algorithm with robust adaptive control.The former is used to suppress the chattering phenomenon of the systemand the latter can effectively compensate for the uncertainty of the modelso that the anti-interference performance of the system can be enhanced.A Lyapunov function is constructedand the stability of the closed-loop system is proved.In order to verify the designed controllera simulation is conducted and a quadrotor platform is built for flight experiments.The simulation results show that the designed controller has faster convergence rate and stronger robustnessand the flight experiment verifies the feasibility of the proposed controllerwhich can realize stable control of the attitude of a quadrotor aircraft.