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传统的离散线性滑模应用于四旋翼飞行器控制具有跟踪误差大、响应速度慢、不能有限时间收敛等问题,针对具有外干扰、系统不确定和建模误差的四旋翼飞行器,提出了干扰观测器补偿的自适应离散终端滑模控制。首先,对一类包括四旋翼飞行器模型的离散化方程推导了终端滑模控制律,引入自适应律因子减小抖振,构造了以状态变量的平方作为干扰误差收敛速度的改进型离散干扰观测器,且证明了它的稳定性,再利用改进的离散干扰观测器获取未知干扰、不确定和建模误差的高精度估计,并用于控制器设计补偿项,提高鲁棒性和减小稳态误差,再对整个系统的稳定性做了严格的证明。最后将提出方法用于四旋翼飞行器控制,Matlab仿真分析表明,干扰观测器补偿的自适应离散终端滑模控制比离散终端滑模等其他控制方法具有响应时间更快、跟踪效果更理想、鲁棒性更强等特点,实现了在不确定干扰的情况下飞行器姿态的稳定控制。
The traditional discrete linear sliding mode applied to quadrotorcraft control has many problems such as large tracking error, slow response speed and limited time convergence. For four-rotor aircrafts with external disturbances, system uncertainties and modeling errors, a disturbance observer Compensation Adaptive Discrete Terminal Sliding Mode Control. Firstly, the terminal sliding mode control law is deduced for a class of discretized equations including the quadrotorcraft model. The adaptive law factor is introduced to reduce the chattering. An improved discrete disturbance observer is constructed with the square of the state variables as the convergence speed of the disturbance error And prove its stability. Then, the improved discrete disturbance observer is used to get the high-accuracy estimation of unknown disturbance, uncertainty and modeling error, which is used to design the compensation term of the controller to improve the robustness and reduce the steady state Error, then the stability of the entire system to do a rigorous proof. Finally, a method is proposed for quadrotor control. The Matlab simulation shows that adaptive discrete terminal sliding mode compensation compensated by disturbance observer has faster response time, better tracking performance and robustness than other control methods such as discrete terminal sliding mode More robust and other characteristics, to achieve a stable control of the attitude of the aircraft in the case of uncertainties.