基于滑模控制的四旋翼飞行器鲁棒三维轨迹跟踪

doi:10.12052/gdutxb.220068

摘要/Abstract

摘要： 近年来，无人自主飞行器在军事和民用的众多领域引起了人们的关注，而其轨迹跟踪任务一直是一个热门研究课题。本文提出了一种鲁棒滑模控制，用于控制四旋翼无人机在存在扰动和参数不确定的情况下进行三维轨迹跟踪。首先，建立了一个具有6个方位的四旋翼飞行器的非线性动力学模型。然后，设计了针对质量、惯性和刚度不确定因素的滑模控制器。通过在Matlab Simulink和Universal Mechanism软件系统中进行建模模拟，验证了控制器的三维跟踪效果。最后，使用Pelican四旋翼平台进行了进一步的实验验证，在水平和垂直轴上施加扰动以验证其鲁棒性。仿真和实物验证结果都表明，四旋翼飞行器对特定轨迹的跟踪效果和鲁棒性是令人满意的，证实了所提出的滑模控制算法的正确性和有效性。

关键词: 四旋翼飞行器, 滑模控制, 三维轨迹跟踪, 鲁棒控制

Abstract: Recently, unmanned autonomous vehicles (UAVs) have attracted a lot of attention in both military and civilian fields, where the trajectory tracking mission has been a popular research topic. In this paper, a robust Sliding Mode Control (SMC) is proposed for controlling a quadrotor UAV for 3D trajectory tracking in the presence of perturbations and parameter uncertainties. The nonlinear dynamics of a quadrotor with 6-DOF is first established. Then, a sliding mode controller with mass, inertia, and stiffness uncertainties is designed. The 3D tracking effectiveness of the controller is verified by modeling simulations in Matlab Simulink and Universal Mechanism software systems. Finally, further physical verification is done using a Pelican quadrotor platform with perturbations applied to the horizontal and vertical axes to verify its robustness. Both the simulation results and the practical implementation results show that the tracking effect and the robustness of the quadrotor UAV for a given trajectory are satisfactory, confirming the correctness and effectiveness of the proposed SMC control algorithm.

Key words: quadcopter unmanned autonomous vehicles (UAVs), sliding mode control (SMC), 3D trajectory tracking, robust control

中图分类号:

V249.1

蔡文琦, 阿拉什·巴哈里·科达巴德. 基于滑模控制的四旋翼飞行器鲁棒三维轨迹跟踪[J]. 广东工业大学学报, 2022, 39(05): 52-60.

Cai Wen-qi, Kordabad Arash Bahari. Sliding Mode Control for Robust 3D Trajectory Tracking of Quadcopter Unmanned Autonomous Vehicles[J]. Journal of Guangdong University of Technology, 2022, 39(05): 52-60.

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