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基于欠驱动、强耦合、非线性小型四旋翼飞行器模型的位置和姿态控制问题,提出一种双闭环积分滑模控制系统。内环为姿态环,采用积分滑模控制,外环为位置环,采用PID控制。由于飞行器的欠驱动性,俯仰角和滚转角的参考值由外环控制器给出。采用李雅普诺夫稳定理论验证了控制器的稳定性,根据Matlab仿真验证了所设计系统的有效性并分析验证了积分滑模控制器的控制特点。
Based on the problem of position and attitude control of underactuated, strongly coupled and nonlinear small quadrotorcraft models, a double closed-loop integrated sliding mode control system is proposed. The inner ring is the attitude ring, using integral sliding mode control, the outer ring for the position of the ring, the use of PID control. Due to the underdrive of the aircraft, the reference values for pitch and roll angle are given by the outer ring controller. The stability of the controller is verified by using Lyapunov stability theory. The effectiveness of the designed system is verified by Matlab simulation and the control characteristics of the integral sliding mode controller are verified.