现代雷达2023，Vol.45Issue(11)：90-97,8.DOI:10.16592/j.cnki.1004-7859.2023.11.014
基于BSMTE的四旋翼飞行器的鲁棒容错抗扰控制
Robust Fault-tolerant Disturbance Rejection Control for Quadrotor Aircraft Based on BSMTE
石川1
作者信息
- 1. 亿航智能设备(广州)有限公司,广东广州 510670
- 折叠
摘要
Abstract
A robust fault-tolerant and perturbation-resistant reverse-step sliding mode control method is designed for the quadrotor system with strong coupling and underactuated force,combining the tracking differentiator and the extended state observer,and ap-plied to the desired trajectory tracking of the quadrotor.The whole control system adopts double closed loop structure,the inner loop is attitude control loop,the outer loop is position control loop.Numerical simulation experiments and real machine verification experiments with low computational forces show that compared with traditional control algorithms,the proposed control algorithm has good robustness,fault tolerance and disturbance rejection,and can be applied to the quadrotor to complete the trajectory track-ing task more accurately.关键词
轨迹跟踪/鲁棒性/容错性/抗扰性Key words
trajectory tracking/robustness/fault tolerance/disturbance rejection分类
电子信息工程引用本文复制引用
石川..基于BSMTE的四旋翼飞行器的鲁棒容错抗扰控制[J].现代雷达,2023,45(11):90-97,8.
