四旋翼无人机姿态系统复合连续快速非奇异终端滑模控制

Composite continuous fast nonsingular terminal sliding mode control for quadrotor UAV attitude systems

本文针对受多源干扰影响的四旋翼无人机姿态系统,基于复合连续快速非奇异终端滑模算法,研究了姿态指令变化率未知情况下的连续有限时间姿态跟踪控制问题.首先,基于四旋翼无人机姿态回路动力学模型,通过引入虚拟控制量实现姿态跟踪误差动态的三通道解耦;其次,分别针对各通道跟踪误差动态设计高阶滑模观测器,实现跟踪误差变化率和集总干扰的有限时间估计;最后,结合姿态跟踪误差变化率的估计信息,构建动态快速非奇异终端滑模面,并在控制设计中用指数幂函数代替符号函数以保证控制量连续.并且基于Lyapunov分析方法给出了姿态跟踪误差有限时间收敛的严格证明,仿真结果验证了所提方法的有效性.

This article investigates the attitude tracking controller design for a quadrotor UAV with multi-source disturbances based on the composite continuous fast nonsingular terminal sliding mode(FNTSM)control method.Firstly,based on the attitude loop dynamics of a quadrotor UAV,the attitude tracking error dynamics in three channels are decoupled with each other by introducing virtual control actions.Secondly,the high-order sliding mode observers(HSMOs)are designed based on the decoupled tracking error dynamics to realize the finite-time estimation of attitude angle commands rates and the lumped disturbances.And then,the dynamical FNTSM are constructed based on the estimation information of HSMOs.Finally,the composite continuous FNTSM controllers are designed by utilizing the power function to replace the sign function in the switching terms of the control action.Strict stability analysis is given based on the Lyapunov method and the simulation results also verify the effectiveness of the proposed method.