机械科学与技术2017，Vol.36Issue(12)：1859-1865,7.DOI:10.13433/j.cnki.1003-8728.2017.1210
四旋翼飞行器的滑模PID轨迹跟踪控制
Trajectory Tracking Control of Quad-rotor Unmanned Aerial Vehicles based on Sliding Mode PID
摘要
Abstract
In order to overcome the deficiencies of low accuracy and robustness for traditional PID controller in the trajectory tracking problem of quad-rotor unmanned aerial vehicles,a sliding mode PID algorithm is proposed.The dynamic model is established based on Euler-Poincare equation,and a sliding mode PID trajectory tracking controller is designed.The proposed algorithm with PID sliding surface provides a faster response and a higher antijamming ability than that of the traditional PID.Simulation is performed under different conditions by using MATLAB/Simulink.By compared with traditional PID controller the results show that the sliding mode PID controller has a better trajectory tracking performance,and it has faster response,smaller overshoot and stronger robustness,which verifies the effectiveness of the proposed algorithm.关键词
四旋翼/轨迹跟踪/滑模PID/MATLABKey words
unmanned aerial vehicles/trajectory tracking/sliding mode PID/MATLAB分类
信息技术与安全科学引用本文复制引用
刘云平,黄希杰,李先影,陈城..四旋翼飞行器的滑模PID轨迹跟踪控制[J].机械科学与技术,2017,36(12):1859-1865,7.基金项目
国家自然科学基金项目(51405243,51575283)与江苏省自然科学基金项目(BK20130999)资助 （51405243,51575283）
