计算机与数字工程2017，Vol.45Issue(9)：1740-1743,1754,5.DOI:10.3969/j.issn.1672-9722.2017.09.011
基于滑模理论的四旋翼飞行器轨迹跟踪控制
Trajectory Tracking Control for a Quadrotor UAV Based on Sliding Mode Theory
摘要
Abstract
According to the characteristics of the Quadrotor Helicopter control system—strong coupling,complex nonlinear, under-actuated,a trajectory tracking sliding mode controller using inner and outer loop structure with high accuracy is proposed. Outer ring is to realize position tracking control while the inner ring is to realize the attitude tracking control. In the position control subsystem,the external interference and mass of system are adaptively estimated. The stability and convergence characteristics are proved by constructing Lyapunov function. The simulation results show that the control system has strong robustness and stability.关键词
四旋翼飞行器/滑模控制/位置跟踪/鲁棒性Key words
quadrotor helicopter/sliding mode control/position tracking/robustness分类
信息技术与安全科学引用本文复制引用
杨建华..基于滑模理论的四旋翼飞行器轨迹跟踪控制[J].计算机与数字工程,2017,45(9):1740-1743,1754,5.基金项目
陕西省教育厅专项科研计划项目(编号:16JK1372) （编号:16JK1372）
国家自然基金项目"深海空间站回转型穿梭器网络化控制性能分析与优化"(编号:61473224)资助. （编号:61473224）
