基于互补滑模控制的四旋翼姿态自抗扰控制
Active disturbance rejection control of quadrotor attitude based on complementary sliding mode control
何栋炜 1王佩 1陈炜 1陈健1
作者信息
- 1. 福建理工大学 电子电气与物理学院,福建 福州 350118;福建省工业集成自动化行业技术开发基地,福建 福州 350118;福建理工大学 电子信息与电气技术国家级实验教学示范中心,福建 福州 350118
- 折叠
摘要
针对受模型不确定性和外界干扰等因素影响的四旋翼无人机的姿态控制问题,提出了一种基于互补滑模控制的自抗扰姿态控制方法.基于自抗扰理论,首先将四旋翼无人机动力学模型改写为标准二阶积分型形式,设计了扩张状态观测器,对总扰动进行在线观测以补偿总扰动对系统的影响.其次,将广义滑模面与互补滑模面相结合,并引入sig函数替换切换函数,提出改进型互补滑模控制律并通过Lyapunov理论证明所提出控制器的稳定性.最后,通过仿真算例,从收敛时间、均方误差、最大误差等指标考察了所提出的控制器的性能.研究结果表明,与互补滑模控制、传统自抗扰控制及反步滑模控制相比,所提改进方法的控制品质更好.
Abstract
For the attitude control problem of quadrotor affected by modeling uncertainty and external disturb-ance,an active disturbance rejection attitude control method based on complementary sliding mode control is proposed.Based on the active disturbance rejection control theory,firstly,the dynamics model of the quadrotor is rewritten into the standard second-order integration form,and an extended state observer is designed to make online observations of the total disturbance to compensate for its influence on the system.Secondly,the generalized sliding mode is combined with the complementary sliding mode,when the sig function is adopted to replace the switching function,then the improved complementary sliding mode control law is proposed and the stability of the proposed controller is proved by the Lyapunov theory.Finally,the performance of the pro-posed control algorithm is investigated by the indexes of rise time,maximum error and mean square error through simulation cases,and simuldtion results demonstrate that the proposed method has better control quali-ty compared to the complementary sliding mode,traditional ADRC and backstepping sliding mode control.
关键词
四旋翼无人机/自抗扰控制/互补滑模控制/姿态控制Key words
quadrotor/active disturbance rejection control(ADRC)/complementary sliding mode control(CSMC)/attitude control引用本文复制引用
基金项目
福建省高校产学合作科技计划项目(2022N5020)
福建省中青年教师教育科研项目(JAT210286)
出版年
2024
NETL
NSTL
万方数据