| 何紫云,陶玫玲,陈强,魏春.基于两相幂次趋近律的四旋翼飞行器自适应控制[J].高技术通讯(中文),2022,32(3):294~302 |
| 基于两相幂次趋近律的四旋翼飞行器自适应控制 |
| Two-phase power reaching law based adaptive control of quadrotors |
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| DOI：10.3772/j.issn.1002-0470.2022.03.008 |
| 中文关键词: 自适应控制; 有限时间控制; 幂次趋近律; 四旋翼飞行器 |
| 英文关键词: adaptive control, finite-time control, power reaching law, quadrotor |
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| 中文摘要: |
| 本文研究存在惯性不确定性和外部干扰的四旋翼飞行器系统有限时间位置和姿态跟踪控制问题。 首先,设计一种新型两相幂次趋近律,当系统状态远离滑模面时,利用较大的幂次项提高趋近速率;当系统状态接近滑模面时,切换成较小的幂次项削弱抖振。其次,设计有限时间滑模控制器保证位置和姿态输出能够在有限时间内跟踪参考轨迹。同时, 构造自适应参数更新律用以估计系统不确定性的上界, 进而提高系统鲁棒性。 最后,通过数值仿真验证本文所提控制方法的有效性。 |
| 英文摘要: |
| The tracking problems of position and attitude control for quadrotors are investigated in the presence of un-known inertia uncertainties and external disturbances. Firstly, a novel two-phase power reaching law is developed to guarantee a finite-time convergence of the sliding mode variable,and the upper bound of the convergence time is independent of the initial system states. When the system state is far from the sliding mode surface, a larger power term is used to increase the reaching rate, and a smaller power term is switched to weaken chattering when the sys-tem state is close to the sliding mode surface. Then, an adaptive finite-time controller is designed to guarantee that the position and attitude output can track the reference trajectories within a finite time. Meanwhile, adaptive update laws are constructed to estimate the upper bound of the system uncertainties, such that the system robustness can be improKveedy. wFoirndalsly, simulation results are given to show the effectiveness of the proposed control scheme. |
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