基于全阶滑模的四旋翼无人机有限时间控制

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• 英文论文题名：Finite-Time Control for Quad-Rotor Unmanned Aerial Vehicles Based on Full-Order Sliding Mode
• 论文作者：陈强 ; 王音强 ; 孙明轩 ; 何熊熊 ; 庄华亮
• 英文论文作者：Chen Qiang ; Wang Yinqiang ; Wun Mingxuan ; He Xiangxiang ; Zhuang Hualiang ; Zhejiang University of Technology
• 年：2016
• 作者机构：浙江工业大学信息工程学院;
• 论文关键词：四旋翼飞行器 ; 全阶滑模 ; 有限时间控制
• 英文论文关键词：quad-rotor unmanned aerial vehicle ; full-order sliding mode ; finite-time control
• 会议召开时间：2016-10-31
• 会议录名称：探索 创新 交流（第7集）——第七届中国航空学会青年科技论坛文集（下册）
• 英文会议录名称：Discovery,Innovation and Communication——Proceedings of 7th CSAA Science and Technology Youth Forum
• 语种：中文
• 分类号：V279;V275.1
• 学会代码：ZGHU
• 会议名称：探索 创新 交流（第7集）——第七届中国航空学会青年科技论坛
• 会议地点：中国广东中山
• 主办单位：中国航空学会
• 学会名称：中国航空学会
• 页数：6
• 文件大小：1206k
• 原文格式：O
• 会议级别：全国

摘要

本文提出了一种基于全阶滑模的四旋翼无人机有限时间控制策略。首先,基于牛顿欧拉公式,推导四旋翼无人机的动力学模型.确定其六自由度数学方程:其次,对这六个自由度进行解耦计算得到位置与姿态问关系。然后,通过全阶滑模面设计位置控制器和姿态控制器,以削弱抖振现象。最后,根据Lyapunov稳定性定理证明该控制系统的有限时间稳定性。仿真结果表明了该控制算法的有效性。
This paper proposes a finite-time control scheme for a quad-rotor unmanned aerial vehicle(UAV) based on fullorder sliding mode.Firstly,the 6-degree mathematical equation of quad-rotor UAV is built by analyzing its dynamic model based on Newton-Euler formula.Then,the relationship between the position and attitude is calculated by decoupling the degrees.Afterwards,a full-order sliding mode surface is constructed to develop the position controller and the attitude controller such that the chattering phenomenon can be eliminated.Finally,this control system is proved to be finite-time stable by using Lyapunov stability theory.Simulation results are given to demonstrate the effectiveness of the proposed control method.

引文

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