四旋翼无人机的高度控制

Altitude Control of Quad-Rotor UAV

为实现对四旋翼无人机飞行高度的控制,采用气压高度计对高度信息进行反馈,同时使用竖直加速度数据进行补偿。为了减少由建模误差对控制效果产生的影响,并使系统具有较强的鲁棒性,设计了模型参考滑模控制器(MRSMC,model reference sliding mode controller),同时对于无法直接测量的状态量使用卡尔曼滤波器来进行推测。实验结果表明所设计的控制器具有良好的稳定性和鲁棒性。

In order to control the flight altitude of four-rotor UAV,barometric altimeter is used to collect the altitude information,and the vertical acceleration data are taken to compensate.The model reference sliding mode controlled MRSMC) is designed to reduce the influence of modeling error and enhance the robustness of the system,while Kalman filter is used to speculate the state values that can not be directly measured.Experimental results show that the controller has good stability and robustness.