应用科学学报 ›› 2016, Vol. 34 ›› Issue (3): 339-351.doi: 10.3969/j.issn.0255-8297.2016.03.011

• 控制与系统 • 上一篇    下一篇

四旋翼无人机飞行姿态的自适应反演滑模控制

徐亚鹏, 苏成利, 孙小平   

  1. 辽宁石油化工大学 信息与控制工程学院, 辽宁 抚顺 113001
  • 收稿日期:2015-10-19 修回日期:2016-01-21 出版日期:2016-05-30 发布日期:2016-05-30
  • 通信作者: 苏成利,教授,研究方向:最优化与最优控制、仿生优化与智能控制,E-mail:suchengli@lnpu.edu.cn E-mail:suchengli@lnpu.edu.cn
  • 基金资助:

    辽宁省科技攻关项目基金(No.2011216011);辽宁省自然科学基金(No.2013020024);辽宁省高等学校优秀人才支持计划基金(No.LJQ2015061)资助

Adaptive Backstepping Sliding Mode Approach to Flight Attitude of Quadrotor UAVs

XU Ya-peng, SU Cheng-li, SUN Xiao-ping   

  1. School of Information and Control Engineering, Liaoning Shihua University, Fushun 113001, Liaoning Province, China
  • Received:2015-10-19 Revised:2016-01-21 Online:2016-05-30 Published:2016-05-30

摘要:

针对非线性六自由度欠驱动四旋翼无人机的姿态和位置控制问题,提出自适应反演滑模控制算法.设计了一种自适应律对控制中的参数摄动和外界干扰上界进行在线估计,并将估计值补偿到反演滑模控制中.通过李雅普诺夫稳定性理论证明自适应反演滑模控制能使跟踪误差一致渐近收敛到零.最后,根据给定的四旋翼无人机参数进行数值仿真,所得结果表明在系统存在参数摄动和外部干扰的情况下,该方法也能够实现四旋翼无人机的姿态稳定和定高悬停,并具有较好的鲁棒性..

关键词: 四旋翼无人机, 自适应反演滑模控制, 跟踪误差, 自适应律

Abstract:

To overcome the problems of nonlinearity and under-drive with six degrees-offreedom in controlling attitude and position of quadrotor UAVs, an adaptive backstepping sliding mode method is proposed. An adaptive law is derived to make online estimation of control parameter variations and external disturbances. The assessment is used to compensate the backstepping sliding mode control. With the Lyapunov stability theorem, it is shown that the design method is asymptotically stable for tracking error. Numerical simulation of a quadrotor UAV using the setting parameters shows that the proposed approach achieves attitude stabilization and fixed hanging stop of UAVs with parameter variations and external disturbance.

Key words: quadrotor UAV, adaptive backstepping sliding mode control, adaptive law, tracking error

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