四旋翼无人机SO(3) 滑模变结构姿态控制器设计

为了提高四旋翼无人机SO(3) 控制的动态性能, 对滑模变结构控制在四旋翼无人机SO(3) 姿态控制中的应用进行研究. 首先, 通过对两种四旋翼SO(3) 姿态控制模型进行分析, 确定一种奇异点较少的模型为控制对象; 随后,针对可能出现的控制奇异问题, 设计一种引入调节函数的无奇异积分型滑模面, 得到了滑模稳定性引理; 最后, 利用这种滑模面进行控制器设计和Lyapunov 稳定性分析, 证明了系统全局指数渐近稳定. 仿真结果验证了所提出的设计方案的正确性.

Sliding mode variable structure attitude controller design of quadrotor UAVs on SO(3)

In order to enhance the transient performance of existing quadrotor UAV SO(3) control schemes, the application of the sliding mode variable structure control technique to apply on quadrotor UAV SO(3) attitude control is researched. Firstly, by making analysis on two kinds of existing quadrotor UAV SO(3) attitude control models, a model with less singular points is selected as the control plant. Then, aiming at the possible control singularity problem, a integral type sliding surface with an adjustment function is proposed. The sliding mode stability lemma is obtained by theoretical deduction. Finally, by making use of the proposed sliding surface, the sliding mode controller is designed with the Lyapunov stability analysis result. Simulation results show the correctness of the design scheme.