基于积分反步法的四旋翼滑模轨迹跟踪算法

针对四旋翼无人机轨迹跟踪过程易受外界未知干扰而引起跟踪误差的问题,设计了基于积分反步法的滑模位置控制器。在该控制系统中,位置回路采用滑模积分反步法(sliding mode integral backstepping,IBS-SMC)非线性控制方法,姿态回路采用经典比例积分微分(proportion integration differentiation,PID)控制方法。通过仿真对PID、线性二次型调节器、IBS-SMC进行了比较。仿真结果表明与传统方法相比,IBS-SMC法具有更好的抗干扰能力与控制精度。最后通过飞行实验,检验了控制算法可行性。实验结果表明,所设计的IBS-SMC是一种符合工程实际的控制方法。

Integral backstepping based sliding mode trajectory tracking algorithm for quadrotor

An integral backstepping based sliding mode position controller is designed to solve the tracking error caused by the unknown disturbance on the quadrotor. In this control system, the sliding mode integral backstepping (IBS-SMC) nonlinear control method is adopted in the position control loop, and the classical proportion integration differentiation (PID) control method is adopted in the attitude control loop. The PID, linear quadratic regulator and IBS SMC methods are compared by simulation. The simulation results show that compared with the traditional methods, the IBS-SMC method has a better anti-interference ability and control accuracy. Finally, the feasibility of the control algorithm is verified by flight experiments. The experimental results show that the IBS-SMC method is a control method that accords with engineering practice.