论文部分内容阅读
针对六自由度欠驱动四旋翼无人飞行器(Quadrotor UAV)受控模型的复杂非线性问题,提出了一种系统简化方法,并基于简化后的模型设计了滑模控制器,实现了对复杂模型的非线性控制.首先,对Quadrotor UAV模型进行简化处理,从而可将系统解耦为完整驱动部分和欠驱动部分;进而,通过定义一个广义滑动流形实现欠驱动部分的滑模控制器设计;最后,利用Lyapunov理论证明了系统欠驱动部分的稳定性.仿真分析表明,本文提出的控制方法能够有效实现Quadrotor UAV的控制,且与经典PID控制方法相比,具有对外界扰动更强的鲁棒性.
Aiming at the problem of complex nonlinearity of a controlled model of a 6 DOF underactuated quadrotor UAV, a simplified method of the system is proposed. A sliding mode controller is designed based on the simplified model, The nonlinear control of Quadrotor UAV model is simplified.At first, the system can be decoupled into the complete drive and the under-drive, and then the sliding-mode controller design of the under-driven part is defined by defining a generalized sliding manifold. Finally, the stability of under-actuated part of the system is proved by Lyapunov theory.The simulation results show that the control method proposed in this paper can effectively control the Quadrotor UAV and has more robust disturbance to the outside world than the classical PID control method Sex.