一种自适应滑模控制算法在四旋翼无人飞行器中的应用

四旋翼无人飞行器具有非线性、多变量、强耦合和不确定性等特点，通过以四旋翼无人飞行器为被控对象，建立了存在参数不确定性和未知干扰的飞行器姿态的动力学模型。利用跟踪误差状态设置滑模面，构造了包含滑模面和未知参数的李雅普诺夫函数，并设计了控制律。对设计的控制律进行仿真，结果表明了该方法的有效性。

Application of One Self-Adaption Slide Mode Control Method in Unmanned Acrial Vehicle of Four Rotor

Unmanned acrial vehicle of four rotor is a multi-variable and strong coupling system which has nonlin- ear and uncertainty. According to the unmanned acrial vehicle of four rotor, a dynamic model of UAV＇s attitude which included uncertainty parameters and unknown disturbances was established. The track error state was used to design a slide mode surface, and built a Lyapunov function which included slide mode surface and un- known parameter. Further more, control rule was designed. At last, the designed control rule was simulated, and the results justified the feasibility of the proposed control rule.