基于观测器的四旋翼飞行器自适应滑模姿态控制
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摘要
针对存在建模不确定性和外部干扰时四旋翼飞行器的姿态控制问题,提出一种基于观测器的自适应滑模控制算法。在建立四旋翼飞行器姿态误差动力学模型的基础上,通过全局渐近收敛观测器获取系统的未知状态反馈量,利用自适应滑模控制抑制系统的不确定性和干扰,构建一种基于观测器的自适应滑模姿态控制器。基于Lyapunov的稳定性分析表明,该方法的跟踪误差是一致最终有界的。数值仿真实验结果表明,与现有滑模控制方法相比,所提方法具有更好的姿态跟踪性能和较高的抗干扰鲁棒性,能有效保证飞行器的姿态跟踪控制性能。
Aiming at the attitude control problem of quad-rotor aircraft with modeling uncertainties and external disturbances?an observer based adaptive sliding mode control algorithm is proposed.Based on the establishment of attitude error dynamics model of quad-rotor aircraft?the unknown state feedback of the system is obtained by the global asymptotic convergence observer?the adaptive sliding mode control is used to suppress the uncertainty and interference of the system.Finally?an adaptive sliding mode attitude controller based on observer is constructed.The stability analysis based on Lyapunov shows that the tracking error of the method is uniform and ultimately bounded.The results of numerical simulation show that?compared with the existing sliding mode control method?the proposed method has better attitude tracking performance and higher anti-disturbance robustness.It can effectively guarantee the attitude tracking control performance of the aircraft with higher robustness.
Aiming at the attitude control problem of quad-rotor aircraft with modeling uncertainties and external disturbances?an observer based adaptive sliding mode control algorithm is proposed.Based on the establishment of attitude error dynamics model of quad-rotor aircraft?the unknown state feedback of the system is obtained by the global asymptotic convergence observer?the adaptive sliding mode control is used to suppress the uncertainty and interference of the system.Finally?an adaptive sliding mode attitude controller based on observer is constructed.The stability analysis based on Lyapunov shows that the tracking error of the method is uniform and ultimately bounded.The results of numerical simulation show that?compared with the existing sliding mode control method?the proposed method has better attitude tracking performance and higher anti-disturbance robustness.It can effectively guarantee the attitude tracking control performance of the aircraft with higher robustness.
引文
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[12] LIU H?XI J?ZHONG Y.Robust motion control of quadrotors[J].Journal of the Franklin Institute?2014? 351(12):5494-5510.
[13] DJAMEL K?ABDELLAH M?BENALLEGUE A.Attitude optimal backstepping controller based quaternion for a UAV[J].Mathematical Problems in Engineering?2016(4):1-11.
[14] BOUDJEDIR H.Adaptive neural network control based on neural observer for quadrotor unmanned aerial vehicle[J].Advanced Robotics?2014?28(17):1151-1164.
[15] XIONG J J?ZHENG E H.Optimal Kalman filter for state estimation of a quadrotor UAV[J].Optik-International Journal for Light and Electron Optics?2015?126(21):2862-2868.
[16] 黄廷国.基于扰动抑制的无人飞行器控制技术研究[D].上海:上海交通大学,2015.
[17] SU Y X.A simple global asymptotic convergent observer for uncertain mechanical systems[J].International Journal of Systems Science?2016?47(4):903-912.
[18] SLOTINE J J E?LI W P.Applied nonlinear control[M].Englewood:Prentice Hall?1991:123-125.
[2] 宿敬亚,樊鹏辉,蔡开元.四旋翼飞行器的非线性PID姿态控制[J].北京航空航天大学学报,2011?37(9):1054-1058.
[3] BOUABDALLAH S?NOTH A?SIEGWART R.PID vs LQ control techniques applied to an indoor micro quadrotor[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems?Sendal?Japan?2004.doi:10.1109/IROS.2004.1389776.
[4] AGUILAR-IBá?EZ C?SIRA-RAMíREZ H?SUáREZ-CA-STA?óN M S?et al.The trajectory tracking problem for an unmanned four-rotor system:flatness-based approach[J].International Journal of Control?2012?85(1):69-77.
[5] 赵丹丹.基于模型参考滑模控制的四旋翼无人机控制器设计[D].南京:东南大学,2016.
[6] 马正华,张倩倩,陈岚萍.四旋翼飞行器自适应反演姿态控制[J].智能系统学报,2015(3):454- 459.
[7] 王仑,苏敏,杨帆,等.四旋翼飞行器姿态的显式模型预测控制[J].电光与控制,2017?24(11):53-57.
[8] ZHAO B?XIAN B?ZHANG Y?et al.Nonlinear robust adaptive tracking control of a quadrotor UAV via immersion and invariance methodology[J].IEEE Transactions on Industrial Electronics?2015?62(5):2891-2902.
[9] 林旭梅,王婵.四旋翼飞行器的自适应鲁棒滑模控制器设计[J].仪器仪表学报,2015?36(7):1522-1528.
[10] 窦景欣,孔祥希,闻邦椿.四旋翼无人机模糊自抗扰姿态控制及稳定性分析[J].中国惯性技术学报,2015?23(6):824-830.
[11] ZHANG R?QUAN Q?CAI K Y.Attitude control of a quadrotor aircraft subject to a class of time-varying disturbances[J].IET Control Theory & Applications?2011? 5(9):1140-1146.
[12] LIU H?XI J?ZHONG Y.Robust motion control of quadrotors[J].Journal of the Franklin Institute?2014? 351(12):5494-5510.
[13] DJAMEL K?ABDELLAH M?BENALLEGUE A.Attitude optimal backstepping controller based quaternion for a UAV[J].Mathematical Problems in Engineering?2016(4):1-11.
[14] BOUDJEDIR H.Adaptive neural network control based on neural observer for quadrotor unmanned aerial vehicle[J].Advanced Robotics?2014?28(17):1151-1164.
[15] XIONG J J?ZHENG E H.Optimal Kalman filter for state estimation of a quadrotor UAV[J].Optik-International Journal for Light and Electron Optics?2015?126(21):2862-2868.
[16] 黄廷国.基于扰动抑制的无人飞行器控制技术研究[D].上海:上海交通大学,2015.
[17] SU Y X.A simple global asymptotic convergent observer for uncertain mechanical systems[J].International Journal of Systems Science?2016?47(4):903-912.
[18] SLOTINE J J E?LI W P.Applied nonlinear control[M].Englewood:Prentice Hall?1991:123-125.