四旋翼飞行器的自适应鲁棒滑模控制器设计.pdfVIP

学兔兔 第36卷 第7期 仪 器 仪 表 学 报 Vol_36 No．7 2015年7月 Chinese Joumal of Scientific Instrument Jn1．2015 四旋翼飞行器的自适应鲁棒滑模控制器设计木 林旭梅，王 婵 (青岛理工大学自动化工程学院 青岛 266520) 摘 要：针对四旋翼欠驱动系统的姿态控制问题，提出一种自适应鲁棒滑模控制方法。对四旋翼系统实现了双环控制，内环为 姿态控制，外环为位置控制。根据牛顿一欧拉方程建立了四旋翼系统的动力学模型，针对系统中的外部扰动和参数摄动等不确 定性因素，设计了基于Lyapunov稳定控制算法，内环使用自适应鲁棒滑模控制；外环使用鲁棒控制。仿真和实验表明所提控制 策略对外界扰动和模型的不确定性具有较强的鲁棒性。 关键词：四旋翼；自适应鲁棒滑模控制；姿态控制；欠驱动系统 中图分类号：TP271．4 TH861 文献标识码：A 国家标准学科分类代码：510．8060 Design of adaptive robust sliding mode controller of quadrotor helicopter Lin Xumei，Wang Chan (College ofAutomation Engineering，Qingdao Technological University，Qingdao 266520，China) Abstract：Aiming at the attitude control issue of quadrotor underactuated system，an adaptive robust sliding mode control method is pro- posed．The dual loop control of the quadrotor system is achieved；the controller consists of two parts：an attitude controller for inner—loop and a position controller for outer—loop．The dynamic model of the quadrotor helicopter is established based on the Newton—Euler equa— tion．Aiming at the uncertainty factors such as external disturbance and parameter perturbation in the system，an adaptive robust sliding mode control algorithm based Oil Lyapunov stability theory is designed．The adaptive robust sliding mode controller is used in the inner— loop；and the robust controller is used in the outer·loop．The simulation and experiment results demonstrate that the proposed strategy has strong robustness to the external disturbance，parameter perturbation and model uncertainty． Keywords：quadrotor；adaptive robust sliding mode controller；attitude control；under