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为了提高四旋翼无人机SO(3)控制的动态性能,对滑模变结构控制在四旋翼无人机SO(3)姿态控制中的应用进行研究.首先,通过对两种四旋翼SO(3)姿态控制模型进行分析,确定一种奇异点较少的模型为控制对象;随后,针对可能出现的控制奇异问题,设计一种引入调节函数的无奇异积分型滑模面,得到了滑模稳定性引理;最后,利用这种滑模面进行控制器设计和Lyapunov稳定性分析,证明了系统全局指数渐近稳定.仿真结果验证了所提出的设计方案的正确性.
In order to improve the dynamic performance of SO (3) control of quadrotor UAV, the application of sliding mode variable structure control in attitude control of SO (3) quadruped UAV is studied.First, 3) The attitude control model is analyzed to determine a model with fewer singular points as the control object. Then, aiming at the possible control singularity problems, a non-singular integral sliding-mode surface is introduced to design a sliding mode Finally, the controller design and the Lyapunov stability analysis using this sliding-mode surface are presented, and the global stability of the system is proved. The simulation results verify the correctness of the proposed design.