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针对四旋翼飞行器控制系统强耦合、复杂非线性、欠驱动的特点,提出一种采用双环控制结构的高精度轨迹跟踪滑模控制器,外环实现位置跟踪控制,内环实现姿态跟踪控制。在位置子系统中,对质量负载和外界干扰进行自适应估计。利用李亚普诺夫稳定性理论证明了该系统的收敛性和稳定性。仿真实验结果表明该控制系统具有较强的稳定性和鲁棒性。
Aiming at the characteristics of strong coupling, complex nonlinearity and underactuated control of quadrotor control system, a high precision trajectory tracking sliding mode controller with double loop control structure is proposed. Position tracking control of the outer ring and attitude tracking control of the inner ring are proposed. In the position subsystem, adaptive estimation of mass load and external disturbance is performed. The convergence and stability of the system are proved by Lyapunov stability theory. Simulation results show that the control system has strong stability and robustness.