基于滑模控制的四旋翼飞行器控制器设计

摘要

基于四旋翼飞行器的结构和飞行原理,本文建立了其飞行动力学数学模型,并采用反馈线性化原理对该模型进行精确线性化;同时,本文采用基于趋近律的滑模变结构控制方法,进行飞行控制器设计,并用simulink对设计的控制器进行仿真,实现了四旋翼飞行器的定高悬停控制,提高了其飞行性能和鲁棒性.%Based on the principle of the quadrotor UAV's structures and flight,the mathematical model of flight dynamics is set up,and then it is linearized accurately by the principle of feedback linearization.The flight controller based on the sliding mode control of reaching law is designed to control the quadrotor in a fixed height and being hovering.The simulation results shows that the proposed control law by sliding mode method can improve the flight performance and stability and is proved to be very effective.