摘要
为了克服外界干扰和模型误差等复合扰动对四旋翼无人机稳定飞行的影响,提出一种基于积分滤波器的有限时间滑模鲁棒控制律。建立四旋翼无人机的轨迹模型和姿态模型,设计扰动观测器来准确估计复合扰动;针对轨迹模型设计有限时间滑模鲁棒控制律,并利用提出的积分滤波器对解算后的姿态指令滤波,实现对四旋翼无人机的有限时间稳定控制。仿真结果表明,提出的滑模鲁棒控制律具有更高的控制精度,轨迹跟踪的最大误差仅为0.3 m,设计的扰动观测器对复合扰动具有更优的估计效果,最大估计误差分别仅为0.03 m/s^(2)和0.02 rad/s^(2),实现了对四旋翼无人机飞行的精准控制。
To overcome the influence of complex disturbances such as external disturbance and model error on the stable flight of four-rotor UAV,a finite time sliding mode robust control law based on integral filter is proposed.The trajectory model and attitude model of four-rotor UAV were established,and the disturbance observer was designed to accurately estimate the composite disturbance.The finite time sliding mode robust control law was designed for the trajectory model,and the attitude command was solved.The proposed integral filter was used to filter the solved attitude command.The finite time stability control of the four-rotor UAV was realized.The simulation results show that the designed finite time sliding mode robust control law has higher control accuracy,the maximum error of trajectory tracking is only 0.3 m,and the designed disturbance observer has better estimation effect on composite disturbance,and the maximum estimation errors is only 0.03 m/s 2 and 0.02 rad/s 2,respectively,which realizes the accurate control of four-rotor UAV flight.
作者
程春
李静
Cheng Chun;Li Jing(School of Information Engineering,Henan Mechanical and Electrical Vocational College,Zhengzhou 450001,Henan,China;School of Information Engineering,Henan University of Science and Technology,Luoyang 471000,Henan,China)
出处
《计算机应用与软件》
北大核心
2026年第2期93-99,共7页
Computer Applications and Software
基金
河南省高等学校重点科研项目(22B520020)
河南省科技攻关项目(232102210008)。
关键词
四旋翼无人机
复合扰动
积分滤波器
扰动观测器
有限时间
滑模鲁棒控制
Four-rotor UAV
Compound disturbance
Integral filter
Disturbance observer
Finite time
Sliding mode robust control
