基于事件触发机制的多四旋翼无人机鲁棒自适应滑模姿态控制

Robust adaptive sliding mode attitude control of MQUAVs based on event-triggered mechanism

针对一类具有外部干扰的多四旋翼无人机姿态系统,研究其在无向拓扑下的姿态跟踪问题,提出一种基于事件触发机制的鲁棒自适应滑模控制方法.首先,建立多四旋翼无人机的姿态动力学模型,并引入干扰观测器,对系统受到的未知外部干扰进行估计.其次,为了节约四旋翼无人机的网络传输资源,本文在传感器和控制器之间引入事件触发机制,并结合鲁棒滑模控制算法,设计基于事件触发的鲁棒自适应滑模控制器.此外,通过Lyapunov稳定性理论证明闭环系统中所有信号最终有界,并证明所设计的事件触发机制能够有效避免Zeno行为.最后,仿真结果验证所提控制方法的有效性.

The attitude tracking problem under undirected topology is studied for the attitude system of multiquadrotor unmanned aerial vehicles(MQUAVs)with external disturbances,and a robust adaptive sliding mode control method based on an event-triggered mechanism is proposed.The attitude dynamics of MQUAVs is first established,and the disturbance observer is introduced to estimate the system’s unknown external disturbance.Second,to conserve MQUAV network transmission resources,this paper introduces an event-triggering mechanism between the sensor and the controller and then combines the robust sliding mode control algorithm to design a robust adaptive event-triggered sliding mode controller.Furthermore,the Lyapunov stability theory is used to prove that all signals in the closed-loop system are ultimately bounded and the designed event-triggered mechanism can effectively avoid Zeno behavior.Finally,simulation results verify the effectiveness of the proposed control method.