四旋翼无人机非奇异终端滑模位置控制器设计

针对四旋翼无人机存在模型不确定性、在野外飞行时易受外界环境干扰问题,首先采用牛顿-欧拉法进行系统建模;然后按照内外环控制结构,外环位置控制器输出姿态指令作为内环姿态控制器的输入,内环采用串级PID控制器,重点针对外环设计了一种非奇异终端滑模控制器,并基于Lyapunov理论证明了位置子系统的稳定性,得出系统误差能够在有限时间收敛到0的结论;最后,通过定点控制和轨迹跟踪仿真,表明控制器具有较快的响应速度和良好的抗干扰性能,能够快速精确地进行轨迹跟踪。

Design of non-singular terminal sliding mode position controller for quadrotor UAV

Aiming at the model uncertainty in system and vulnerability to external environment disturbance for the quadrotor UAV in field flight, this article uses the following ideas to solve them. Firstly, use the Newton-Euler method to establish the system model. Then, according to the inner and outer loop control structure, use the attitude command of the output of outer loop position controller as the input of inner loop attitude controller, and the inner loop adopts cascade PID controller. This paper concentrates to design a non-singular terminal sliding mode controller for the outer loop. And the stability of position subsystem is proved by Lyapunov theory, the resulted conclusion is that the state error can converge to zero in finite time. Finally, the simulation of fixed-point control and trajectory tracking shows that the controller has fast response speed, anti-interference performance, and can track trajectory quickly and accurately.