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针对四旋翼无人机提出了一种基于多环控制结构的非奇异快速终端滑模控制方法,以提高四旋翼无人机的收敛速度并解决一般快速终端滑模中存在的奇异问题.在实际应用中,四旋翼无人机存在模型不确定、外部干扰、执行器饱和等问题.首先,在位置环和姿态环考虑系统模型不确定和外部干扰的情况,结合自适应方法设计非奇异快速终端滑模控制器,抑制不确定和扰动的影响;然后,在转速环考虑执行器饱和问题,将饱和项当作加性扰动,设计滑模干扰观测器对扰动项进行估计,最后,设计了基于干扰观测器的滑模控制器,实现有限时间内收敛.通过李亚普诺夫方法证明了闭环系统的稳定性.仿真结果表明所设计的控制器在模型不确定、外部干扰和执行器饱和的影响下能够保证控制误差快速收敛.
Aiming at the quadrotor UAV, a non-singular and rapid terminal sliding mode control method based on multi-loop control structure is proposed to improve the convergence speed of the quadrotor UAV and to solve the singularity problem in the general rapid terminal sliding mode. In the application, the quadrotor UAVs have the problems of model uncertainty, external disturbance and actuator saturation.Firstly, considering the uncertainty of the system model and the external disturbance in the position and attitude rings, the non-singular and rapid terminal Then the sliding mode controller is used to suppress the influence of uncertainties and disturbances. Then, considering the actuator saturation problem in the speed control loop, the saturation term is regarded as the additive disturbance, and the sliding mode disturbance observer is designed to estimate the disturbance term. Finally, The sliding mode controller of the disturbance observer is used to achieve the convergence within a finite time.The stability of the closed-loop system is proved by Lyapunov method.The simulation results show that under the influence of the model uncertainties, external disturbances and actuator saturation To ensure rapid control error convergence.