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

Abstract

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

CLC Number:

V249.1

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.

References

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Sliding Mode Control for Robust 3D Trajectory Tracking of Quadcopter Unmanned Autonomous Vehicles

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