摘要
针对四旋翼飞行器轨迹跟踪对控制的精确性、稳定性要求高的特点,采用反步滑模法设计了四旋翼飞行器轨迹跟踪控制器。首先,基于反步滑模法针对所建四旋翼飞行器非线性模型设计轨迹跟踪控制器,并采用内外双回路结构分别控制姿态和位置;然后,从理论上证明了所设计的控制器的稳定性。仿真结果表明,所设计的控制器能够很好地实现轨迹跟踪控制。
To meet the demand of the aircraft trajectory-tracking for high stability and accuracy of quadrotor aircraft,the back-stepping sliding mode method is applied in the design of trajectory-tracking controller for quad-rotor aircraft. Firstly,a trajectory tracking controller for the built non-linear mathematical model of quad-rotor aircraft is designed based on the back-stepping sliding mode method,and the structure of double circuit is taken in the design of this trajectory tracking controller. Secondly,stability of designed controller is proven theoretically. Simulation results show that the designed controller can realize trajectory tracking of quad-rotor aircraft effectively and reliably.
作者
吴梅
涂彪
罗瑜
WU Mei;TU Biao;LUO Yu(School of Automation, Northwestern Polytechnical University, Xi＇ an 710129, China)
出处
《飞行力学》
CSCD
北大核心
2018年第3期47-51,共5页
Flight Dynamics
关键词
四旋翼飞行器
反步法
滑模法
轨迹跟踪
quad-rotor aircraft
back-stepping
sliding mode
trajectory tracking
