重庆大学学报2025，Vol.48Issue(5)：105-116,12.DOI:10.11835/j.issn.1000-582X.2025.05.009
基于自适应超螺旋滑模的四旋翼飞行器控制系统设计
Design of a quadcopter control system based on adaptive super-twisting sliding mode
摘要
Abstract
To improve the flight stability of quadcopters in interference-prone environments,the under actuated strong coupling and nonlinear characteristics of the system were fully considered,and a dual closed-loop control system based on the adaptive super-twisting sliding mode method was proposed.First,the control system was structured into an outer loop for position control and an inner loop for attitude control,both designed using the super-twisting sliding mode control method,effectively reducing the chattering typically caused by conventional sliding mode control approach.Then,an adaptive disturbance compensation law was introduced to counteract unknown external disturbances,enabling the controller to maintain the stability of the closed-loop system with reduced control gain,thereby further minimizing chattering.Finally,the stability of the proposed control system was theoretically validated using Lyapunov stability theory,and its performance was verified through simulations conducted in MATLAB.The simulation results show that the designed control system offers strong robustness,high control accuracy,and effective trajectory tracking performance while significantly suppressing system chattering.关键词
四旋翼飞行器/内外环结构/超螺旋滑模控制:自适应控制Key words
quadcopter/inner and outer ring structure/super-twisting sliding mode control/adaptive control分类
机械工程引用本文复制引用
张继伟,蹇开林..基于自适应超螺旋滑模的四旋翼飞行器控制系统设计[J].重庆大学学报,2025,48(5):105-116,12.基金项目
中央高校基本科研业务费资助项目(2024CDJGF-006).Supported by the Fundamental Research Funds for the Central Universities(2024CDJGF-006). （2024CDJGF-006）
