一种自适应滑模控制算法在四旋翼无人飞行器中的应用

Application of One Self-Adaption Slide Mode Control Method in Unmanned Acrial Vehicle of Four Rotor

摘要:

四旋翼无人飞行器具有非线性、多变量、强耦合和不确定性等特点,通过以四旋翼无人飞行器为被控对象,建立了存在参数不确定性和未知干扰的飞行器姿态的动力学模型。利用跟踪误差状态设置滑模面,构造了包含滑模面和未知参数的李雅普诺夫函数,并设计了控制律。对设计的控制律进行仿真,结果表明了该方法的有效性。

Abstract:

Unmanned acrial vehicle of four rotor is a multi-variable and strong coupling system which has nonlin. ear and uncertainty. According to the unmanned acrial vehicle of four rotor, a dynamic model of UAV's attitude which included uncertainty parameters and unknown disturbances was established. The track error state was used to design a slide mode surface, and built a Lyapunov function which included slide mode surface and un. known parameter. Further more, control rule was designed. At last, the designed control rule was simulated, and the results justified the feasibility of the proposed control rule.