四旋翼飞行器准滑模反步法控制设计

Design of Quasi-Sliding Mode Backstepping Method Control of Quadrotor

针对四旋翼无人飞行器自主飞行问题,提出了一种基于准滑模反步法的控制方法。该方法主要通过建立四旋翼飞行器的动力学方程,在选择指数趋近律的基础上,使用饱和函数sat(s)代替趋近律中的符号函数sgn(s),有效地削弱了系统中的抖振现象,克服了模型中的不确定因素。通过仿真和实验,验证了该控制方法的有效性。与传统的PID控制方法相比,能够较好地抑制干扰,克服了系统的不确定性。

To solve the quadrotor unmanned aircraft autonomous flight problem,a control scheme based on the quasi-sliding mode backstepping is proposed.The scheme is mainly to establish the kinematics equation of quadrotor aircraft and the controller uses saturation function sat(s)instead of the sign function sgn(s)on the basis of the reaching law of the selection index.The system is found to weaken the buffeting of system effectively and overcome the uncertainties in the model.The simulation and experimental results demonstrate the effectiveness of this control approach.Compared with the traditional PID control method,this method can well restrain interference and overcome the uncertainty of the system.