【作者】 陈强； 王音强； 孙明轩； 何熊熊； 庄华亮；

【Author】 Chen Qiang;Wang Yinqiang;Wun Mingxuan;He Xiangxiang;Zhuang Hualiang;Zhejiang University of Technology;

【机构】 浙江工业大学信息工程学院；

【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。更多还原

【Abstract】 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.更多还原