共轴倾转旋翼无人机有限时间滑模姿态控制

Finite-time sliding mode attitude control for coaxial tilt-rotor unmanned aerial vehicle

针对受外界干扰的共轴倾转旋翼无人机姿态控制问题,设计了一种有限时间滑模控制器(FTSMC),以提高姿态控制的跟踪能力和在不确定干扰下的鲁棒性。采用牛顿-欧拉法建立了无人机姿态动力学模型,调整动力分配以克服无人机控制通道的过驱动。应用李雅普诺夫理论验证了有限时间滑模控制器的稳定性。最后,在Matlab/SimMechanics平台中进行仿真测试,以验证本文所设计控制器的性能。

In order to solve the attitude control problem of the coaxial tilt-rotor unmanned aerial vehicle which is influenced by external disturbance,a finite-time sliding mode controller(FTSMC) was designed to improve the tracking performance of attitude control and the robustness under uncertain disturbance.The Newton-Euler method was used to establish the attitude dynamics model of the UAV,the power distribution was adjusted to solve the over-actuated problem of the UAV,the stability of the FTSMC was verified by using Lyapunov theory,and finally,the simulation test was utilized in the Matlab/SimMechanics platform to verify the performance of the proposed controller.