基于反步法的四旋翼飞行器自适应滑动模态控制Adaptive sliding mode control based on backstepping method for quadrotor aircraft
陈智勇,王斌,张良力,胡知川
摘要(Abstract)：
针对四旋翼飞行器非线性模型系统参数不确定性和外界干扰随机性的控制问题,提出一种基于反步法的自适应滑模控制器设计方法。将四旋翼飞行器动力学模型进行简化分解为欠驱动和全驱动两个部分;对相应的不确定性进行估计,选取适当的Lyapunov函数,采用反步的方法回馈递推得到自适应滑模控制律,从而提高飞行器对外界环境变化自适应能力。依据该方法在Matlab/Simulink环境下进行控制器设计并完成仿真验证。结果表明,基于反步法的四旋翼飞行器自适应滑动模态控制方法比非自适应控制方法具有更好的适应性和鲁棒性。
关键词(KeyWords)： 四旋翼飞行器;滑模控制器;反步方法;滑模控制律;设计方法;动力学模型
基金项目(Foundation): 国家自然科学基金资助项目(51308426)~~
作者(Author): 陈智勇,王斌,张良力,胡知川
DOI: 10.16652/j.issn.1004-373x.2018.04.002
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