基于自适应反演滑模的四旋翼飞行器姿态控制研究

摘要

基于四旋翼飞行器飞行原理,建立飞行姿态动力学模型,对耦合模型进行了独立通道分解.针对飞行器姿态控制过程中存在不确定性干扰的问题,提出了自适应反演滑模控制方法.该方法对外界不确定性干扰进行了估计,减小了系统的抖振.控制器能够保证系统跟踪姿态位置指令,达到姿态控制目的.通过不同条件下的仿真实验,结果表明该方法可行有效,增强控制系统的适应性和鲁棒性,实现了飞行器在存在不确定性干扰的情况下姿态的稳定控制.%According to the quad-rotor helicopter,a dynamic model of quad-rotor helicopter's attitude is established.The model of coupled channel is divided into independent channels.ln the process of aircraft attitude control,the problem of uncertainties interference is existed.An adaptive backstepping and slide mode method is proposed to solve it.The algorithm can be used for the estimation of to reduce the chattering.The controller can guarantee the system to track the position of the attitude and achieve the goal of attitude control.The results show that the proposed method is feasible and effective,Enhancing the adaptability and robustness of the control system.The stability control of the attitude of the aircraft is realized when the under of uncertainties interference.