摘要
四旋翼无人机在飞行过程中,由于姿态系统强耦合性、强非线性及抗扰动性能弱的原因,无人机的控制一旦受到强扰动,则无人机将会偏移原来的轨迹甚至有可能坠毁。滑模控制是在四旋翼无人机姿态控制的常用方法,然而,如果无人机遇到外界强扰动时,普通滑模控制方法容易出现稳态误差。积分滑模控制方法通过引入积分环节可以降低其稳态误差,不过积分环节的引入容易导致系统暂态性能变差。为了降低由于积分环节的引入而增大的暂态误差,提出一种基于反馈线性化的积分滑模控制方法用于控制各姿态角。上述方法为了便于控制姿态系统,先借助反馈线性化方法将被控对象进行线性化,然后,再利用积分滑模控制律对每个姿态通道进行控制,使得系统在保持原有积分滑模控制方法的较好的稳态性能的基础上,还能够获得更好的暂态性能。最后通过仿真,验证了上述方法的有效性。
Quadrotor UAV is a controlled object of strong coupling,nonlinearity and disturbance,while sliding mode control is a common method to command the attitude control. However,if the UAV meets strong disturbance outdoors,it is easy to appear the steady-state error for ordinary sliding mode control. Integral sliding mode control method can reduce its steady-state error by integral term,which may lead to weakness of transient performances of the system. As to lower it,in this paper,we come up with the controlling method of integral sliding mode based on feedback linearization to command every attitude angle. This method makes the controlled object linearized by feedback linearization firstly,then takes advantage of the law of integral sliding mode to control every attitude passageway so that the system can get better transient performance based on the fact that the preferable steady-state error of intrinsic integral sliding mode control method can be kept. According to the simulation,we prove its effectiveness.
作者
张文清
徐雪松
刘瑞
ZHANG Wen-qing;XU Xue-song;LIU Rui(School of Electrical and Automation Engineering,East China Jiaotong University,Nanchang Jiangxi 350013,China)
出处
《计算机仿真》
北大核心
2019年第1期87-91,242,共6页
Computer Simulation
基金
国家自然科学基金(61763012)
江西省教育厅科技项目(GJJ50542)
关键词
四旋翼飞行器
姿态控制
积分滑模
反馈线性化
Quadrotor UAV
Attitude control
Integral sliding mode
Feedback linearization
