四旋翼飞行器双环条件积分滑模控制

Dual-Loop Conditional Integral Sliding Mode Control for a Quadrotor Aircraft

针对存在阵风干扰及未建模特性下的四旋翼飞行器轨迹跟踪控制,基于非线性滑模控制技术,结合条件积分思想及Lyapunov稳定性理论设计了一种位姿双环条件积分滑模控制器。在获得四旋翼非线性动力学模型后对其进行线性化,简化被控对象数学模型,提高控制器设计效率。利用条件积分滑模控制律设计了位置环和姿态环的轨迹跟踪控制器,实现了控制系统的全局渐近稳定。通过仿真算例验证了所设计控制器的有效性,结果表明:与其他控制器相比,所设计的控制器具有较高的控制精度、较强的抗干扰性及鲁棒性,可有效抑制系统振动、消除静态误差,并实现四旋翼飞行器的高性能轨迹跟踪。

In view of the wind gusts and unmodeling characteristics in trajectory tracking control of a quadrotor aircraft,a new method is presented.This controller is called dual-loop conditional integral sliding mode controller,which is based on nonlinear sliding mode control technique,conditional integral idea and Lyapunov stability theory.The nonlinear dynamic model of the quadrotor is linearized to simplify the mathematical model of the controlled object and improve the efficiency of controller design.The trajectory tracking controllers of position loop and attitude loop are designed by using the conditional integral sliding mode control law,and global asymptotic stability of the control system is realized.The effectiveness of the designed controller is verified by simulation cases.The simulation results show that the controller has higher control accuracy,stronger anti-interference ability and stronger robustness compared with other controllers.It can effectively suppress system chattering,eliminate static errors and realize high-performance trajectory tracking of a quadrotor aircraft.