四旋翼飞行器反演滑模控制器的设计与仿真

针对当前四旋翼控制器姿态环与位置环强耦合和控制系统欠驱动问题,提出基于反演控制和滑模控制的非线性系统控制方法。通过对四旋翼飞行器动力学原理的分析,系统姿态环采用滑模变结构控制方法,利用指数趋近律减少该方法中存在的抖振现象,为了使飞行器得到稳定控制,系统位置环采用反演控制方法来得到预期效果,达到提高系统鲁棒性的目的。通过李雅普诺夫稳定性分析和在Simulink上搭建系统模型最终得出仿真结果并通过实际飞行实验,证明飞行器的姿态和位置都得到了稳定有效的控制。

Design and Simulation of Backstepping Sliding Mode Controller for Quadrotor

Aiming at the strong coupling problem between the attitude loop and the position loop of the current four-rotor controller and the under-driving problem of the control system, a nonlinear system control method based on backstepping control and sliding mode control is proposed. Through the analysis of the dynamic principle of the four-rotor aircraft, the system attitude ring adopts the sliding mode control method, and the exponential approach law is used to reduce the chattering phenomenon existing in the method. In order to make the aircraft stably control, the position loop of the control system uses the backstepping control method to obtain the expected effect and achieve the purpose of improving the robustness of the system. Through the stability analysis of Lyapunov, the construction of the system model on Simulink and actual flight experiments, the results are finally obtained. All the results prove that the attitude and position of the aircraft are controlled stably and effectively.