饱和输入下四旋翼无人机滑模轨迹跟踪控制

Sliding Mode Trajectory Tracking Control of Quadrotor UAV Under Input Saturation

为解决四旋翼无人机在饱和输入下的轨迹跟踪控制问题,同时兼顾系统存在的参数不确定性和外部风力扰动影响,设计了一种改进的抗干扰自适应鲁棒滑模控制方法;基于六自由度架构,设计四旋翼无人机简化的系统模型,进而降低控制器设计的复杂程度;引入带有误差信号的滑模函数,设计带有误差信号的饱和补偿自适应控制律,同时增加鲁棒控制项,降低由于饱和输入问题带来的抖振影响,并减小参数不确定和外部风力扰动对系统稳定性的影响;系统模型与抗干扰自适应控制律相结合,形成了改进的抗干扰自适应鲁棒滑模控制策略,实现四旋翼无人机的位置轨迹和姿态轨迹的稳定跟踪;最后通过数值仿真与传统PD控制算法进行仿真比较,验证控制方法的有效性和优越性。

In order to solve the problem of trajectory tracking control of quadrotor UAV under saturated input, taking into account the parameter uncertainty of the system and the influence of external wind disturbance, an improved anti-jamming adaptive robust sliding mode control method is designed;Based on Six-degree-of-freedom architecture, a simplified system model of the quadrotor UAV is designed to reduce the complexity of controller;The sliding mode function with error signal is introduced to design a saturation compensation adaptive control law with error signal, and the robust control term is increased to reduce the chattering effect caused by the saturated input, which reduces the influence of parameter uncertainty and external wind disturbance on the system stability;The system model is combined with the anti-interference adaptive control law to form the improved the anti-jamming adaptive robust sliding mode control strategy, which realizes the stable tracking of the position and attitude trajectory of the quadrotor UAV. Finally, compared with the traditional PD control algorithm, the numerical simulation verifies the effectiveness and superiority of the control method.