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四旋翼飞行器控制系统具有非线性、强耦合、欠驱动的特点。由于控制参数较多,系统结构相对复杂,所以需要多个控制器对系统进行控制。系统控制器的设计,是为了使飞行器能够快速稳定地到达理想位置,同时保证姿态符合预期。为了解决飞行器能够在有外界干扰的情况下,到达理想位置和保持姿态的同时,提高稳定性,提出一种模糊与滑模相结合的控制算法,用于姿态角控制器设计。实验结果表明,模糊与滑模控制相结合,确实比单一的滑模控制能更好地提高系统的稳定性,增强系统的抗干扰能力。为提升四旋翼飞行器稳定性提供了一种有效的方法。
Quadrotor control system with non-linear, strong coupling, under-driven features. Due to more control parameters, the system structure is relatively complex, so more controllers are needed to control the system. The system controller is designed to allow the aircraft to reach an ideal position quickly and stably while ensuring that the attitude is as expected. In order to solve the problem that the aircraft can reach the ideal position and maintain the attitude while improving the stability under the circumstance of external interference, a fuzzy and sliding mode control algorithm is proposed for attitude angle controller design. The experimental results show that the combination of fuzzy control and sliding mode control can indeed improve the stability of the system better than the single sliding mode control and enhance the anti-interference ability of the system. It provides an effective method to improve the stability of four-rotor aircraft.