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摘要:
针对四旋翼位置环和姿态环的控制问题，使得四旋翼位姿能够在预定时间内稳定，提出一种基于预定义时间滑模控制算法的位姿控制器。该控制器通过对四旋翼位置环和姿态环2个环节的控制，使得四旋翼的位姿能够在预定时间内稳定。理论推导及数值仿真表明：所提算法具有正确性；仿真结果表明：应用所提控制器的四旋翼的位置和姿态能够在预定时间内达到稳定。
Abstract:To address the control problem of the position loop and attitude loop of the quadrotor, so that the position and attitude of the quadrotor can be stable in the predetermined time, a position and attitude controller based on the predefined time sliding mode control algorithm is proposed. By controlling the position loop and attitude loop of the four rotors, the position and attitude of the quadrotor can be stabilized within a predetermined time. The proposed algorithm is proved by theoretical derivation and numerical simulation. The simulation results show that the position and attitude of the quadrotor with the proposed controller can achieve stability in the predetermined time.
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Key words:
- quadrotor /
- predefined-time stability /
- sliding mode control /
- position control /
- attitude control
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图 5 基于本文算法的位置环滑模跟踪
Figure 5. Position loop sliding mode tracking based on the proposed algorithm
图 6 基于本文算法的姿态误差
Figure 6. Attitude errors of quadrotor based on the proposed algorithm
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