基于互补滑模控制的四旋翼姿态自抗扰控制

Active disturbance rejection control of quadrotor attitude based on complementary sliding mode control

针对受模型不确定性和外界干扰等因素影响的四旋翼无人机的姿态控制问题,提出了一种基于互补滑模控制的自抗扰姿态控制方法。基于自抗扰理论,首先将四旋翼无人机动力学模型改写为标准二阶积分型形式,设计了扩张状态观测器,对总扰动进行在线观测以补偿总扰动对系统的影响。其次,将广义滑模面与互补滑模面相结合,并引入sig函数替换切换函数,提出改进型互补滑模控制律并通过Lyapunov理论证明所提出控制器的稳定性。最后,通过仿真算例,从收敛时间、均方误差、最大误差等指标考察了所提出的控制器的性能。研究结果表明,与互补滑模控制、传统自抗扰控制及反步滑模控制相比,所提改进方法的控制品质更好。

For the attitude control problem of quadrotor affected by modeling uncertainty and external disturbance,an active disturbance rejection attitude control method based on complementary sliding mode control is proposed.Based on the active disturbance rejection control theory,firstly,the dynamics model of the quadrotor is rewritten into the standard second-order integration form,and an extended state observer is designed to make online observations of the total disturbance to compensate for its influence on the system.Secondly,the generalized sliding mode is combined with the complementary sliding mode,when the sig function is adopted to replace the switching function,then the improved complementary sliding mode control law is proposed and the stability of the proposed controller is proved by the Lyapunov theory.Finally,the performance of the proposed control algorithm is investigated by the indexes of rise time,maximum error and mean square error through simulation cases,and simuldtion results demonstrate that the proposed method has better control quality compared to the complementary sliding mode,traditional ADRC and backstepping sliding mode control.