论文部分内容阅读
针对四旋翼欠驱动、强耦合非线性系统轨迹跟踪问题,提出了一种滑模轨迹跟踪控制策略。基于典型牛顿-欧拉动力学模型,无人机控制系统分为了全驱动子系统(ψ,z)和欠驱动子系统(x,y,φ,θ)。全驱动子系统先通过终端滑模控制器使变量ψ,z收敛到理想值,然后二阶滑模控制器实现欠驱动子系统中变量x,y,φ,θ的有效跟踪,二阶滑模控制器滑模面参数通过Hurwitz稳定性理论设计。控制器通过Matlab/Simulink进行仿真,仿真结果表明,设计的控制器位置和姿态控制具有良好的位置、角度跟踪效果,且具有很好的鲁棒性。
Aiming at the tracking problem of under-driven and strongly coupled nonlinear systems with four rotors, a sliding mode tracking control strategy is proposed. Based on the typical Newton-Euler kinetic model, the UAV control system is divided into full-drive subsystem (ψ, z) and under-driven subsystem (x, y, φ, θ). The whole driving subsystem converges the variable ψ, z to the ideal value by the terminal sliding mode controller firstly, and then the second-order sliding mode controller realizes the effective tracking of the variables x, y, φ, θ in the under-driven subsystem. The controller sliding mode parameters are designed by Hurwitz stability theory. The controller is simulated by Matlab / Simulink. The simulation results show that the designed controller position and attitude control have good position and angle tracking effect and have good robustness.