四旋翼姿态的反步滑模自抗扰控制及稳定性

为了解决四旋翼无人机姿态控制中存在的问题,设计了一种基于反步滑模自抗扰姿态控制器.首先,介绍了四旋翼无人机的动力学模型,建立了基于反步滑模自抗扰控制算法的姿态控制方案.控制方案构成主要包括扩张状态观测器及基于Lyapunov稳定性分析的反步滑模控制器.稳定性分析表明,通过合理调整参数可以保证控制系统是渐近稳定的.仿真结果表明,所设计的控制器同经典自抗扰控制器相比,对扰动有较强的抑制能力,提高了自适应性和鲁棒性,表明该控制系统具有更好的稳定性和动态性能,对四旋翼姿态控制更加有效.

Backstepping Sliding Mode Active Disturbance Rejection Control of Quadrotor Attitude and Its Stability

In order to solve the problem of attitude control in quadrotor unmanned aerial vehicle (UAV)， an attitude controller based on backstepping sliding mode active disturbance rejection control (ADRC) was developed. The dynamic model of quadrotor UAV was introduced， and an attitude control scheme based on backstepping sliding mode ADRC algorithm was established. The proposed control scheme mainly includes extended state observer (ESO) and backstepping sliding mode controller based on the Lyapunov stability criterion. The stability analysis showed that the control system is asymptotically stable by appropriately adjusting control parameters. The simulation results indicated that the proposed control scheme has better anti-disturbance performance， adaptivity and robustness than the traditional ADRC. The system has good dynamic performance， steady state performance， and is more effective for attitude control of quadrotor.