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针对较大幅度外部不确定扰动下的四旋翼姿态稳定问题,设计了一种基于浸入与不变原理(Ⅰ&Ⅰ)的自适应反步滑模控制器(ABSMC)。首先建立了未知大扰动下四旋翼姿态系统动力学模型,然后以横滚角子系统搭建为例,设计并应用了反步法和基于趋进率的滑模控制策略。在扰动估计误差流型设计中,融合了Ⅰ&Ⅰ原理,即自适应率的选取实现了误差流型的不变和吸引,确保估计误差收敛到0。最后,对系统进行了稳定性分析和数字仿真。结果表明,在较大未知扰动情况下,融合Ⅰ&Ⅰ原理方法后,经10 s所测跟踪误差平方的累加和仅为传统ABSMC方法的11.2%,控制精度大幅提高。
In order to solve the problem of attitude stability of quadrupole with large external uncertain perturbation, an adaptive backstepping sliding mode controller (ABSMC) based on Immersion and Invariant Principle (Ⅰ & Ⅰ) is designed. Firstly, the dynamic model of the quadruped rotor attitude system under unknown large disturbance is established. Then, taking the roll-angle subsystem construction as an example, the backstepping method and the sliding mode control strategy based on the rate of advance are designed and applied. In the design of turbulence estimation error flow, the I & I principle is integrated. That is to say, the selection of adaptive rate realizes the invariance and attraction of the error flow, and ensures that the estimation error converges to zero. Finally, the system stability analysis and digital simulation. The results show that under the condition of large unknown disturbance, the precision of the control accuracy increases greatly when the sum of the square of the tracking error measured with 10 s is only 11.2% of that of the traditional ABSMC method after the fusion of Ⅰ & Ⅰ principle method.