基于分数阶滑模控制的无人机轨迹跟踪控制器设计

Design of UAV Trajectory Tracking Controller Based on Fractional-order Sliding Mode Control

四旋翼无人机在农业、工业和国防等领域广泛应用,但其复杂的系统特性和对扰动的敏感性使得控制变得困难。首先,考虑分数阶方法具有良好的鲁棒性以及调节灵活性的优点,将整数阶积分滑模面和改进的分数阶指数趋近律相结合,设计出了一种新的分数阶积分滑模控制器。然后,将所设计的分数阶积分滑模控制器应用于四旋翼无人机轨迹跟踪控制问题。仿真结果表明,所提控制器作用下的四旋翼无人机进行轨迹跟踪时响应速度快、无超调,且对外界干扰具有较强的鲁棒性。

The quadcopter UAV,known for its ability to vertically take off,autonomously hover,and its advantages of small size,light weight,and flexible control,has found widespread applications in fields such as agriculture,industry,and defense.However,due to the multi-variable,nonlinear and extremely sensitive to disturbance characteristics of the quadrotor UAV system,it is difficult to control.Firstly,considering the advantageous robustness and adaptable nature of fractional-order methods,a new fractional-order integral sliding mode controller is devised by combining integer-order integral sliding mode control with an improved fractional-order reaching law.Then,the designed fractional order integral sliding mode controller is applied to the trajectory tracking control problem of the quadcopter UAV.The simulation results show that the quadrotor UAV trajectory tracking under the action of the controller has fast response speed,no overshoot,and has strong robustness to external interference.