信息与控制2017，Vol.46Issue(2)：204-210,217,8.DOI:10.13976/j.cnki.xk.2017.0204
执行器饱和情况下四旋翼无人机的快速终端滑模控制
Fast Terminal Sliding Mode Control for Quadrotor Unmanned Aerial Vehicle with Actuator Saturation
摘要
Abstract
We propose a nonsingular fast terminal sliding mode control method for quadrotor unmanned aerial vehicle based on multi-loop control structure,which improves the convergence rate and solves the singular problem in the traditional terminal sliding mode control.Many problems exist in practical applications of quadrotor unmanned aerial vehicle,such as model uncertainties,external disturbances,and actuator saturation.First,considering the model uncertainties and external disturbances in the position and the attitude loops,we design a nonsingular fast terminal sliding mode controller with the use of the adaptive method to handle uncertainties and disturbances.Then,we consider the actuator saturation problem in the rotate speed loop.The saturation is treated as additive disturbance and is estimated by a sliding mode disturbance observer.Finally,we design a sliding mode controller based on the disturbance observer to achieve convergence within a finite time.The stability of the closed-loop system is proven by the Lyapunov method.Simulation results show that the proposed control scheme can guarantee fast error convergence regardless of model uncertainties,external disturbances,and actuator saturation.关键词
四旋翼无人机/非奇异快速终端滑模/执行器饱和/自适应/干扰观测器Key words
quadrotor unmanned aerial vehicle/nonsingular fast terminal sliding mode/actuator saturation/adaptive/disturbance observer分类
信息技术与安全科学引用本文复制引用
马亚丽,宗群,董琦,尤明..执行器饱和情况下四旋翼无人机的快速终端滑模控制[J].信息与控制,2017,46(2):204-210,217,8.基金项目
国家863计划资助项目(2013AA122602) （2013AA122602）
