电光与控制, 2017, 24 (10): 106, 网络出版: 2021-01-22   

四旋翼飞行器自稳定和轨迹跟踪控制研究

On Self-Stabilizing and Trajectory Tracking Control of Quadrotor Aircraft
作者单位
太原科技大学电子信息工程学院,太原 030024
摘要
针对四旋翼飞行器自稳定飞行和轨迹跟踪控制问题, 提出了一种多模态滑模姿态控制和新型回馈递推轨迹跟踪控制方法。首先, 依据牛顿第二定律和欧拉方程建立了运动学方程, 由于外环位置跟踪控制与内环姿态存在严重耦合, 外环位置控制器采用新型回馈递推法设计, 简单有效, 同时降低了工程实现难度。其次, 内环姿态控制根据多模态滑模设计理念, 结合线性滑模和非奇异终端滑模特点设计了切换型滑模控制律, 使得系统状态能够在最优模态下运行, 同时保证系统的到达时间和滑动时间都是有限的, 实现了全局快速收敛。最后, 仿真实验数据表明所设计的控制器能够快速跟踪期望姿态和轨迹, 具有较好的控制效果。
Abstract
Aiming at the problem of self-stabilizing flight and trajectory tracking control for quadrotor aircraft, a multi-modal sliding-mode attitude control and a new back-stepping recursive trajectory tracking control method are proposed. Firstly, the kinematics equation is established according to Newton's Second Law and Euler's Equation. Considering the serious coupling between the outer loop position tracking control and the inner attitude, the outer loop position controller adopts the new inverse method, which is simple, effective and easy for engineering application. To the inner loop attitude control, a switching type sliding mode control law is designed based on the multi-slide-mode design concept by combining the characteristics of linear sliding mode with nonsingular terminal sliding mode. This control law allows the system state to run in the optimal mode while ensuring that the system's arrival time and sliding time are limited, thus fast global convergence is realized. Simulation results show that the designed controller can quickly track the desired attitude and trajectory and has good control effect.

李虹, 靳亚磊, 李昕涛, 张颖, 何海军. 四旋翼飞行器自稳定和轨迹跟踪控制研究[J]. 电光与控制, 2017, 24(10): 106. LI Hong, JIN Ya-lei, LI Xin-tao, ZHANG Ying, HE Hai-jun. On Self-Stabilizing and Trajectory Tracking Control of Quadrotor Aircraft[J]. Electronics Optics & Control, 2017, 24(10): 106.

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