中南大学学报（自然科学版）2017，Vol.48Issue(4)：1006-1011,6.DOI:10.11817/j.issn.1672-7207.2017.04.021
小型四旋翼飞行器的滑模控制
Sliding mode control of a quadrotor helicopter
摘要
Abstract
A sliding mode control scheme was proposed for a 6 degree of free quadrotor model to improve the robustness of the quadrotor control system. Firstly, the quadrotor model was divided into two parts which included a fully-actuated subsystem and an under-actuated subsystem. The fully-actuated subsystem was composed of two independent loops with altitude and yaw angle, while the under-actuated subsystem had four state variables and two control variables. Secondly, a backstepping based on sliding mode controller and furthermore a finite time terminal sliding mode controller were proposed to the fully-actuated subsystem, and then a cascade sliding mode controller was designed to control the under-actuated subsystem which was transformed into a cascade standard form. Thirdly, the stability of the designed control system was proved by using Lyapunov stability theorem. The results show that the proposed quadrotor control scheme is effective, it not only has good robustness and fast tracking dynamic performance, but also has the ability to restrain buffeting.关键词
四旋翼飞行器/欠驱动系统/滑模控制/终端滑模控制/反步法Key words
quadrotor/under-actuated system/sliding mode control/terminal sliding mode control/back stepping分类
信息技术与安全科学引用本文复制引用
王辰璐,陈增强,孙明玮..小型四旋翼飞行器的滑模控制[J].中南大学学报（自然科学版）,2017,48(4):1006-1011,6.基金项目
国家自然科学基金资助项目(61573199,61573197) （61573199,61573197）
天津市自然科学基金资助项目(14JCYBJC18700)(Projects (61573199, 61573197) supported by the National Natural Science Foundation of China （14JCYBJC18700）
Project (14JCYBJC18700) supported by the Natural Science Foundation of Tianjin City) （14JCYBJC18700）
