基于离散积分滑模的四旋翼编队跟踪控制

Quadrotor Formation Tracking Control Based on Discrete-time Integral Sliding Mode

针对四旋翼编队的轨迹跟踪问题,提出一种基于离散积分滑模的分布式编队控制器。首先,建立四旋翼的离散模型,并将其分为位置系统和姿态系统。其次,基于一致性理论和图论知识建立四旋翼编队的拓扑图,对位置系统采用离散积分滑模控制方法,对姿态系统采用指数趋近律的滑模控制方法,并进行编队一致性分析。最后,利用离散扩张观测器估计并补偿外界干扰和不可建模部分。仿真结果表明,所设计的分布式控制器能使四旋翼形成编队并跟踪给定轨迹。

A distributed formation controller based on discrete-time integral sliding mode is proposed to solve the trajectory tracking problem of quadrotor formation.Firstly,the discrete-time model of the quadrotor is established,which is divided into position system and attitude system.Secondly,the topology diagram of quadrotor formation is established based on consensus theory and graph theory.The discrete-time integral sliding mode control method is used for position system,and the sliding mode control method based on the exponential reaching law is used for attitude system.The formation consistency analysis is conducted.Finally,the discrete-time extended state observer is used to estimate and compensate the external disturbance and the unmodeled parts.The simulation results show that the designed distributed controller can make the quadrotor form formation and track the given trajectory.