基于扩张状态观测器的四旋翼无人机快速非奇异终端滑模轨迹跟踪控制

针对受多源干扰影响的四旋翼无人机系统的轨迹跟踪控制问题进行研究,充分考虑位置回路和姿态回路动态特性,提出一种全回路复合快速非奇异终端滑模轨迹跟踪控制方案.首先,通过变换将轨迹跟踪问题转化为位置回路和姿态回路的指令跟踪控制问题;然后,将各通道之间的耦合以及多源干扰影响视作集总干扰,并基于扩张状态观测器对其进行估计;接着,基于干扰估计信息和快速非奇异终端滑模控制算法,分别在位置回路和姿态回路构造复合快速非奇异终端滑模控制器;最后,基于位置回路和姿态回路虚拟控制量解得无人机真实控制量旋翼转速.仿真结果表明,所提出控制方案显著提升了四旋翼无人机轨迹跟踪的响应速度和抗干扰性能.

Fast nonsingular terminal sliding mode trajectory tracking control of a quadrotor UAV based on extended state observers

In this paper, the trajectory tracking control of a quadrotor UAV system with multi-source disturbances is studied. A full loop composite fast nonsingular terminal sliding mode trajectory tracking control scheme is proposed by considering both position and attitude loop dynamics. Firstly, the trajectory tracking problem is transformed into the commands tracking in position and attitude loop. Then, the couplings between different channels and the influences of multi-source disturbances are regarded as lumped disturbances and estimated by extended state observers. Based on the disturbances'' estimation and the fast nonsingular terminal sliding mode control algorithm, the composite fast nonsingular terminal sliding mode controllers are constructed both in the position loop and the attitude loop. Finally, the real control action of UAV, i.e., rotor speed, is calculated based on the virtual controller. The simulation results show that the proposed control scheme significantly improves the trajectory tracking performance.