现代电子技术2018，Vol.41Issue(4)：6-10,14,6.DOI:10.16652/j.issn.1004-373x.2018.04.002
基于反步法的四旋翼飞行器自适应滑动模态控制
Adaptive sliding mode control based on backstepping method for quadrotor aircraft
摘要
Abstract
Aiming at the control problems of system parameter uncertainty and external disturbance randomness of the non-linear quadrotor aircraft model,a design method of the adaptive sliding mode controller based on the backstepping method is pro-posed. The kinetic model of the quadrotor aircraft is simplified into two parts:under-driving and full-driving. The appropriate Lyapunov function is selected to estimate the corresponding uncertainties,and the adaptive sliding mode control law is obtained by feedback recursion of the backstepping method to improve the adaptability of the aircraft to external environment change. Ac-cording to the method,the controller was designed and simulation verification was completed in Matlab/Simulink environment. The results show that the adaptive sliding mode control method based on the backstepping method for the quadrotor aircraft has better adaptability and robustness than the non-adaptive control method.关键词
四旋翼飞行器/滑模控制器/反步方法/滑模控制律/设计方法/动力学模型Key words
quadrotor aircraft/sliding mode controller/backstepping method/sliding mode control law/design method/dynamic model分类
信息技术与安全科学引用本文复制引用
陈智勇,王斌,张良力,胡知川..基于反步法的四旋翼飞行器自适应滑动模态控制[J].现代电子技术,2018,41(4):6-10,14,6.基金项目
国家自然科学基金资助项目(51308426)Project Supported by National Natural Science Foundation of China(51308426) （51308426）
