基于滑模控制器的四旋翼飞行器控制
发布时间：2018-11-18 22:06
【摘要】：文章针对四旋翼飞行器的飞行控制设计了滑模控制器。针对飞行器的高度控制,设计了一种基于滑模控制方法的控制器,并根据李雅普诺夫稳定性理论证明了飞行器系统的所有信号最终是一致有界的;针对飞行器的姿态控制设计了滑模控制器,并对其进行了稳定性证明,且针对该控制器产生较大抖振的问题提出了采用双幂次趋近率的改进方法。仿真结果证明了设计的控制器能较好地控制四旋翼飞行器。
[Abstract]:In this paper, a sliding mode controller is designed for the flight control of a four-rotor aircraft. A kind of controller based on sliding mode control method is designed for altitude control of aircraft, and all signals of aircraft system are proved to be uniformly bounded according to Lyapunov stability theory. A sliding mode controller is designed for attitude control of aircraft, and its stability is proved. An improved method of double power convergence rate is proposed to solve the problem of large buffeting of the controller. The simulation results show that the controller can control the four-rotor aircraft well.
【作者单位】： 合肥工业大学计算机与信息学院;
【基金】：国家自然科学基金资助项目(61100211)
【分类号】：V249.1
本文编号：2341403
[Abstract]:In this paper, a sliding mode controller is designed for the flight control of a four-rotor aircraft. A kind of controller based on sliding mode control method is designed for altitude control of aircraft, and all signals of aircraft system are proved to be uniformly bounded according to Lyapunov stability theory. A sliding mode controller is designed for attitude control of aircraft, and its stability is proved. An improved method of double power convergence rate is proposed to solve the problem of large buffeting of the controller. The simulation results show that the controller can control the four-rotor aircraft well.
【作者单位】： 合肥工业大学计算机与信息学院;
【基金】：国家自然科学基金资助项目(61100211)
【分类号】：V249.1
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