四旋翼飞行器的动态滑模轨迹跟踪控制研究

为了提高四旋翼飞行器在外界扰动影响下的飞行性能,提出了一种结合动态滑模与反步法的轨迹跟踪控制策略。首先,利用牛顿-欧拉方程推导了四旋翼的动力学模型,明确系统输入输出关系。其次,根据时间尺度原理,将系统分为位置与姿态两个控制环,分别设计了基于反步法的动态滑模控制器,并对建模的不精确性与外界扰动的影响进行了补偿。最后,通过仿真算例与飞行实验对文中所提控制策略的有效性进行了验证,结果表明该控制策略表现出比传统反步法与滑模控制更优的控制性能,能有效抑制外界扰动,实现四旋翼的轨迹跟踪控制。

Trajectory Tracking Control Using Dynamic Sliding Mode Technique for an Unmanned Quadrotor

In order to improve the flight performance of an unmanned quadrotor under the influence of external disturbances, a trajectory tracking control strategy combining dynamic sliding mode control and backstepping step is proposed. Firstly, the kinetic model of the quadrotor is deduced by Newton-Euler equation, and the relationship between the input and output of the system is clarified. Secondly, according to the principle of time scale, the system is divided into position loop and attitude loop, and the dynamic sliding mode controllers based on backstepping method are designed to compensate the influence of the modeling inaccuracy and the external disturbance. Finally, the effectiveness of the proposed control strategy is validated by simulation case and flight experiment, the results show that the control strategy shows better control performance than the traditional backstepping and sliding mode control. It can effectively restrain the external disturbances and realize trajectory tracking control of the quadrotor.