微型四旋翼飞行器TSMC控制方法研究

摘要

To solve the attitude stabilization and velocity tracking problems of a micro quadrotor aircraft under the nonlinear dynamic model,the controller design using global fast terminal sliding mode control (TSMC) method was studied.By introducing equivalent control inputs,the three channels of aircraft attitude control were decoupled and the TSMC attitude stabilization controllers were designed independently.For velocity tracking and altitude tracking issues,a coupling controller was designed,which was established according to the requirement of altitude hold and can guarantee velocity tracking performance.The simulations of attitude stabilization and velocity tracking showed the performance of the designed controllers.%针对微型四旋翼飞行器非线性动力学模型下姿态稳定和速度跟踪控制问题,基于全局快速终端滑模控制(TSMC-terminal sliding mode control)方法研究了控制器设计.通过引入等价控制输入,将姿态控制通道解耦并分别设计了姿态稳定TSMC控制器.对速度跟踪和高度跟踪控制,在保证高度跟踪控制稳定的基础上设计了保证速度跟踪的耦合控制器.姿态稳定和速度跟踪仿真验证了设计控制器的性能.