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针对四旋翼无人机在系统内部模型参数不确定性情况下的轨迹跟踪问题,提出了一种基于滑模控制的四旋翼无人机自适应跟踪控制方法。首先,采用单位四元数来描述系统姿态,将系统分解为位置子系统和姿态子系统;考虑到位置子系统的欠驱动特性,引入了虚拟控制力,跟踪位置信息并解算出实际升力和理想姿态;其次,通过自适应滑模控制器补偿了质量和转动惯量的不确定性,实现了轨迹的跟踪;最后,利用Lyapunov理论证明了闭环系统的稳定性。仿真结果表明了算法的有效性。
In order to solve the problem of trajectory tracking of quadruped rotor UAV under uncertainty of system model parameters, a quadruped UAV adaptive tracking control method based on sliding mode control is proposed. Firstly, the system quaternion is used to describe the system attitude and the system is decomposed into the position subsystem and the attitude subsystem. Taking into account the under-drive characteristic of the position subsystem, virtual control force is introduced to track the position information and solve the actual lift and ideal Secondly, the uncertainties of mass and moment of inertia are compensated by adaptive sliding mode controller, and the trajectory is tracked. Finally, the stability of closed-loop system is proved by Lyapunov theory. Simulation results show the effectiveness of the algorithm.