基于滑模理论的四旋翼飞行器轨迹跟踪控制

摘要

According to the characteristics of the Quadrotor Helicopter control system—strong coupling,complex nonlinear, under-actuated,a trajectory tracking sliding mode controller using inner and outer loop structure with high accuracy is proposed. Outer ring is to realize position tracking control while the inner ring is to realize the attitude tracking control. In the position control subsystem,the external interference and mass of system are adaptively estimated. The stability and convergence characteristics are proved by constructing Lyapunov function. The simulation results show that the control system has strong robustness and stability.%针对四旋翼飞行器控制系统强耦合、复杂非线性、欠驱动的特点,提出一种采用双环控制结构的高精度轨迹跟踪滑模控制器,外环实现位置跟踪控制,内环实现姿态跟踪控制.在位置子系统中,对质量负载和外界干扰进行自适应估计.利用李亚普诺夫稳定性理论证明了该系统的收敛性和稳定性.仿真实验结果表明该控制系统具有较强的稳定性和鲁棒性.