不确定四旋翼飞行器系统的滑模鲁棒控制

于涛; 苗志鑫

doi:10.15892/j.cnki.djzdxb.2025.01.005

弹箭与制导学报 >

2025 , Vol. 45 >Issue 1: 34 - 44

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2025.01.005

不确定四旋翼飞行器系统的滑模鲁棒控制

于涛 ,
苗志鑫

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辽宁工业大学机械工程与自动化学院,辽宁锦州 121001

于涛(1980—),男,副教授,博士。E-mail: yutaogzm@163.com

收稿日期: 2024-07-08

网络出版日期: 2025-03-12

基金资助

辽宁省教育厅科学技术研究经费项目(JQL202015406)

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Sliding Mode Robust Control for Uncertain Quadrotor Aircraft System

YU Tao ,
MIAO Zhixin

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College of Mechanical Engineering and Automation, Liaoning University of Technology, Jinzhou 121001,Liaoning,China

Received date: 2024-07-08

Online published: 2025-03-12

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摘要

针对不确定四旋翼飞行器系统的控制问题,提出一种基于自适应一阶滑模干扰估计器和二相组合函数趋近律的滑模鲁棒控制策略。将四旋翼飞行器系统分成2个全驱动子系统和2个欠驱动子系统,并采用适当的滑动面设计方法构造各子系统的滑动面。采用一种连续的自适应一阶滑模干扰估计器在线逼近各子系统的不确定性因素,并使用一种能够动态适应滑动面变化的二相组合函数趋近律,依次设计全驱动子系统和欠驱动子系统的滑模控制量。从理论上分析了闭环控制系统的稳定性和控制系统滑动面的收敛时间,仿真测试结果验证了所提出的滑模控制策略的鲁棒控制性能和控制器抖动削弱能力。

关键词： 四旋翼飞行器; 滑模鲁棒控制; 二相组合函数趋近律; 自适应一阶滑模干扰估计器; 抖动削弱

本文引用格式

于涛 , 苗志鑫 . 不确定四旋翼飞行器系统的滑模鲁棒控制[J]. 弹箭与制导学报, 2025 , 45(1) : 34 -44 . DOI: 10.15892/j.cnki.djzdxb.2025.01.005

Abstract

A sliding mode robust control strategy based on an adaptive first-order sliding mode disturbance estimator and a two-phase combined function reaching law is proposed for the control problem of uncertain quadrotor aircraft system. The quadrotor aircraft system is divided into two fully-actuated subsystems and two under-actuated subsystems, and the sliding surface of each subsystem is constructed by adopting proper sliding surface design method. A continuous adaptive first-order sliding mode disturbance estimator is adopted to online approximate the uncertainties of each subsystem, and a two-phase combined function reaching law that can dynamically adapt to the variation of the sliding surface is used to sequentially design the control amount of the fully-actuated subsystems and the under-actuated subsystems. The stability of the closed-loop control system and the convergence time of the sliding surface of the control system are theoretically analyzed. The simulation test results verify the robust control performance and controller chattering reduction ability of the proposed sliding mode control strategy.

Key words： quadrotor aircraft; robust sliding mode control; two-phase combined function reaching law; adaptive first-order sliding mode disturbance estimator; chattering reduction

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