摘要
针对四旋翼飞行器由于强耦合、非线性的特点而难以准确建立姿态角模型,从而无法实现稳定控制的问题,本文提出一种基于内外环的双模糊滑模控制方法。该方法在对四旋翼飞行器完成建模的基础上,以位置子系统为外环,姿态子系统为内环,利用中间指令信号的提取连接内外环,构建双模糊滑模控制器。通过Lyapunov稳定性判据,证明了所设计控制器的稳定性。经仿真验证,相比于传统PID控制,本文的方法能有效抑制外界扰动,有更强的鲁棒性,可以更好地实现四旋翼飞行器的轨迹跟踪控制。
Due to the strong coupling and non-linear characteristics of the four rotor vehicle,it is difficult to accurately establish the attitude angle model,so the stability control can not be achieved.A double fuzzy sliding mode control method based on the inner and outer loop is proposed.Based on the modeling of four rotor vehicle,the method takes the position subsystem as the outer loop and the attitude subsystem as the inner loop.The stability of the controller is proved by Lyapunov stability criterion.Compared with the traditional PID control,the proposed method can effectively suppress the external disturbance,has stronger robustness,and can better realize the trajectory tracking control of the four rotor vehicle.
作者
高福海
胡盛斌
王晨悦
GAO Fuhai;HU Shengbin;WANG Chenyue(College of Air Transportation,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《智能计算机与应用》
2020年第7期158-165,共8页
Intelligent Computer and Applications
关键词
四旋翼飞行器
内外环
PID控制
双模糊滑模控制
Four rotor aircraft
Inner and outer ring structure
PID control
Sliding mode control
Double fuzzy control
