A sliding mode control scheme was proposed for a 6 degree of free quadrotor model to improve the robustness of the quadrotor control system. Firstly, the quadrotor model was divided into two parts which included a fully-actuated subsystem and an under-actuated subsystem. The fully-actuated subsystem was composed of two independent loops with altitude and yaw angle, while the under-actuated subsystem had four state variables and two control variables. Secondly, a backstepping based on sliding mode controller and furthermore a finite time terminal sliding mode controller were proposed to the fully-actuated subsystem, and then a cascade sliding mode controller was designed to control the under-actuated subsystem which was transformed into a cascade standard form. Thirdly, the stability of the designed control system was proved by using Lyapunov stability theorem. The results show that the proposed quadrotor control scheme is effective, it not only has good robustness and fast tracking dynamic performance, but also has the ability to restrain buffeting.%针对1种六自由度四旋翼模型,设计滑模控制器来提高控制系统的鲁棒性.首先将四旋翼模型划分为全驱动和欠驱动2部分,全驱动子系统由高度和偏航角2个独立回路组成,而欠驱动子系统则包含4个被控量和2个控制量.然后针对全驱动系统的2个回路设计了基于反步法(Backstepping)的滑模控制,并进一步推导出有限时间终端滑模控制器.将欠驱动子系统写成一种级联标准型,并给出一种欠驱动级联形式的滑模控制器.采用Lyapunov稳定性理论证明所设计的滑模控制系统的稳定性.研究结果表明:所提出的四旋翼控制器是有效的,它不仅具有良好的鲁棒性和快速跟踪动态性能,而且能够有效地抑制抖振现象.
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