基于积分滑模的四旋翼飞行器控制系统设计

系统仿真学报 ›› 2015, Vol. 27 ›› Issue (9): 2181-2186.

• 信息、控制、决策与仿真 • 上一篇下一篇

基于积分滑模的四旋翼飞行器控制系统设计

陈增强^1,2, 王辰璐¹, 李毅¹, 张青², 孙明玮¹

1.南开大学计算机与控制工程学院智能机器人技术重点实验室,天津 300071;
2.中国民航大学理学院,天津 300300

收稿日期:2015-05-05 修回日期:2015-07-30 出版日期:2015-09-08 发布日期:2020-08-07
作者简介:陈增强(1964-),男,天津,教授,研究方向为复杂系统建模控制与仿真,飞行器制导优化与控制。
基金资助:
国家自然科学基金(61174094, 61273138); 天津市自然科学基金资助项目(14JCYBJC18700, 13JCYBJC17400)

Control System Design Based on Integral Sliding Mode of Quadrotor

Chen Zengqiang^1,2, Wang Chenlu¹, Li Yi¹, Zhang Qing², Sun Mingwei¹

1. Key Lab of Intelligent Robotics, College of Computer and Control Engineering, Nankai University, Tianjin 300071, China;
2. College of Science, Civil Aviation University of China, Tianjin 300300, China

Received:2015-05-05 Revised:2015-07-30 Online:2015-09-08 Published:2020-08-07

摘要/Abstract

摘要： 基于欠驱动、强耦合、非线性小型四旋翼飞行器模型的位置和姿态控制问题,提出一种双闭环积分滑模控制系统。内环为姿态环,采用积分滑模控制,外环为位置环,采用PID控制。由于飞行器的欠驱动性,俯仰角和滚转角的参考值由外环控制器给出。采用李雅普诺夫稳定理论验证了控制器的稳定性,根据Matlab仿真验证了所设计系统的有效性并分析验证了积分滑模控制器的控制特点。

关键词: 四旋翼飞行器, 积分滑模, 姿态控制, 位置控制, PID控制, 欠驱动系统

Abstract: A double closed-loop control system based on integral sliding mode was proposed to solve the problems of position and attitude control of an under-actuated, nonlinear coupling quadrotor model. An integral sliding mode control method was applied in the inner loop attitude control and a PID controller was designed in the outer loop position control. Due to the under-actuated property of the quadrotor model, desired pitch and roll angles were given by outer loop controller. The stability of the designed control system was proved by Lyapunov stability theorem. Simulation results on Matlab show the effectiveness of the proposed control system and the characteristics of integral sliding mode control.

Key words: quadrotor, integral sliding mode, attitude control, position control, PID control, under- actuated system

中图分类号:

TP272

陈增强, 王辰璐, 李毅, 张青, 孙明玮. 基于积分滑模的四旋翼飞行器控制系统设计[J]. 系统仿真学报, 2015, 27(9): 2181-2186.

Chen Zengqiang, Wang Chenlu, Li Yi, Zhang Qing, Sun Mingwei. Control System Design Based on Integral Sliding Mode of Quadrotor[J]. Journal of System Simulation, 2015, 27(9): 2181-2186.

参考文献

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基于积分滑模的四旋翼飞行器控制系统设计

Control System Design Based on Integral Sliding Mode of Quadrotor

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