欠驱动四旋翼无人飞行器的滑模控制

摘要

针对六自由度欠驱动四旋翼无人飞行器( Quadrotor UAV)受控模型的复杂非线性问题,提出了一种系统简化方法,并基于简化后的模型设计了滑模控制器,实现了对复杂模型的非线性控制.首先,对Quadrotor UAY模型进行简化处理,从而可将系统解耦为完整驱动部分和欠驱动部分;进而,通过定义一个广义滑动流形实现欠驱动部分的滑模控制器设计;最后,利用Lyapunov理论证明了系统欠驱动部分的稳定性.仿真分析表明,本文提出的控制方法能够有效实现Quadrotor UAV的控制,且与经典PID控制方法相比,具有对外界扰动更强的鲁棒性.%In order to solve the complex nonlinear problem of underactuated quadrotor UAV with six degrees of freedom controllable model, the proposed study focused on the system simplifying method and the sliding mode controller. First, the system model is categorized as a simplified one, allowing the original model decoupled into a fully actuated subsystem and an underactuated subsystem. Secondly, a sliding mode controller of the underactuated subsystem is designed by defining a generalized sliding surface. Lastly, the stability of the underactuated subsystem is validated using Lyspunov theory of stability. Simulation results showed the proposed control scheme enabled the quadrotor UAV to fly effectively when compared with the classical PID control scheme. The proposed study shows a stronger robustness against the disturbance as compared with other studies.