基于自适应超螺旋滑模的四旋翼飞行器控制系统设计
Design of a quadcopter control system based on adaptive super-twisting sliding mode
张继伟 1蹇开林1
作者信息
- 1. 重庆大学 航空航天学院,重庆 400044
- 折叠
摘要
为了提升四旋翼飞行器在干扰环境中的飞行稳定性,充分考虑四旋翼飞行器欠驱动、强耦合以及非线性的复杂特性,设计了一种基于自适应超螺旋滑模控制(Adaptive super-twisting sliding mode control,ASTSMC)方法的四旋翼飞行器双闭环控制系统.首先,将飞行器的控制系统分为外环位置控制和内环姿态控制2个部分,内外环均采用超螺旋滑模控制方法,以减弱传统滑模控制中的抖振.针对飞行过程中可能遇到的未知干扰,引入干扰自适应律对控制输入进行补偿,确保在低控制增益下系统的稳定性,进一步减弱抖振.最后,使用Lyapunov稳定性理论对所设计的控制系统进行了稳定性证明,并通过Matlab仿真进行了验证.仿真结果表明,该控制系统不仅具有良好的鲁棒性、控制精度及轨迹跟踪性能,还能够有效抑制系统的抖振.
Abstract
To improve the flight stability of quadcopters in interference-prone environments,the under actuated strong coupling and nonlinear characteristics of the system were fully considered,and a dual closed-loop control system based on the adaptive super-twisting sliding mode method was proposed.First,the control system was structured into an outer loop for position control and an inner loop for attitude control,both designed using the super-twisting sliding mode control method,effectively reducing the chattering typically caused by conventional sliding mode control approach.Then,an adaptive disturbance compensation law was introduced to counteract unknown external disturbances,enabling the controller to maintain the stability of the closed-loop system with reduced control gain,thereby further minimizing chattering.Finally,the stability of the proposed control system was theoretically validated using Lyapunov stability theory,and its performance was verified through simulations conducted in MATLAB.The simulation results show that the designed control system offers strong robustness,high control accuracy,and effective trajectory tracking performance while significantly suppressing system chattering.
关键词
四旋翼飞行器/内外环结构/超螺旋滑模控制:自适应控制Key words
quadcopter/inner and outer ring structure/super-twisting sliding mode control/adaptive control引用本文复制引用
出版年
2025
NETL
NSTL
万方数据