In order to improve the fast attitude maneuver performance of electric patrol four rotor UAV under sudden conditions,a fixed-time sliding-mode attitude control method of four rotor UAV is proposed based on the integral sliding mode method,homogeneity technique and fixed time stability theory.Firstly,based on the integral sliding-mode and homogeneity technique,a fixed-time convergent and nonsingular sliding-mode surface is designed.Then,a controller to ensure the fixed time convergence of sliding mode surface is proposed.Based on the Lyapunov stability theory and homogeneity technique,the fixed time stability of the present closed-loop system is proved.Comparing with the traditional finite-time sliding-mode control method,the present fixed-time sliding-mode control method can ensure that the convergence time of the control error is limited by using a fixed constant.Therefore,the present method can ensure the rapid convergence of the control error in both small angle and large angle maneuvers.Secondly,according to the design of integral sliding-mode surface,the present fixed-time sliding-mode control method solves the singular problem of traditional terminal sliding-mode control.Finally,the advantages of the present method are verified by using the simulation comparison.
关键词
固定时间稳定/电力巡检/四旋翼无人机/滑模控制
Key words
fixed-time stability/electrical inspection/quad-rotor unmanned aerial vehicle/sliding-mode control
维普
万方数据