Model uncertainty,sensor measurement noise and ambient wind disturbances can affect the control per-formance of quadrotors.For the problem of quadrotor attitude control under the influence of multi-source disturb-ances,an adaptive fast non-singular terminal sliding mode(AFNTSM)controller based on linear extended state ob-server(LESO)is proposed in this paper.First,LESO is introduced to estimate the unknown disturbances and applied to feedforward compensation.Then,an adaptive algorithm that can change the gain of the switching term in real time is proposed to compensate for the disturbance estimation error of LESO with variable gain switching term in real-time,which reduces the impact of large LESO estimation error on the disturbance rejection performance of the control system under the sudden addition of disturbance to the system and improves the controller accuracy at the same time.In addition,a fast non-singular terminal sliding mode(FNTSM)controller is designed to achieve finite-time control.The system stability is demonstrated by Lyapunov theory.Finally,simulation results show that the proposed controller improves the attitude tracking and disturbance rejection performance of the quadrotor.
关键词
四旋翼飞行器/姿态控制/滑模控制/扩张状态观测器/自适应控制
Key words
Quadrotor/Attitude control/Sliding mode control/Extended state observer/Adaptive control
维普
万方数据