四旋翼飞行器姿态的非奇异快速终端滑模控制

摘要

针对四旋翼飞行器姿态控制问题中系统存在模型参数不确定和外界未知干扰的情况,提出一种基于有限时间干扰观测器的非奇异快速终端滑模控制策略.首先,设计有限时间干扰观测器实时观测系统中的模型参数不确定和外界未知干扰,并将观测值与非奇异快速终端滑模控制器的设计相结合,不仅实现了对系统中模型参数不确定和外界未知干扰的抑制,而且提高了系统的跟踪速度和控制精度.基于Lyapunov理论证明了控制系统的稳定性,最后,通过仿真验证了所提方法的有效性.%To deal with the model uncertainties and unknown external disturbances in the process of attitude control of quad-rotor aircrafts, a novel Non-singular Fast Terminal Sliding Mode Control (NFTSMC) method based on Finite-Time Disturbance Observer (FTDO) is proposed.Firstly, FTDO is designed to observe the model uncertainties and unknown external disturbances in real time, and a novel NFTSMC controller is designed based on observed values.The proposed control law can not only depress the model uncertainties and unknown external disturbances, but also improve the tracking speed and control accuracy of the system.The stability of the control system is proved through Lyapunov theory.Finally, the simulation results demonstrate the effectiveness of the proposed control method.