四轴飞行器空中抗干扰稳定性控制研究

摘要

针对四轴飞行器空中飞行抗干扰能力差和跟踪误差收敛慢等问题,提出了一种快速收敛且具有强鲁棒性的非奇异终端滑模控制方法.首先通过动力学分析建立了相应的数学模型,其次在兼顾非奇异的要求下构造了带状态高次项的滑模面,并引入带指数项的终端吸引子进行控制器的设计,使得系统状态在远离平衡点时能够快速收敛,由于未使用切换项,避免了系统抖振,增强了系统的鲁棒性;同时通过理论证明了系统在全局范围内快速收敛性和稳定性.最后通过仿真对比分析,结果验证了所设计控制器的有效性.%Aiming at the problem of poor anti-jamming ability and slow convergence of tracking error in the air flight process of quad-rotor aircraft,a fast convergence and strong robust non-singular terminal sliding mode control method is proposed.Firstly,the corresponding mathematical model is established by dynamic analysis.Secondly,the sliding mode surface with high order term is constructed under the condition of non-singularity,and the terminal attractor with exponential term is used to design the controller,which can avoid the system chattering and enhance the robustness of the system.Furthermore,it is proved that the system has fast convergence and stability in the global scope.Finally,the simulation results show that the designed controller is effective.