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四旋翼无人机姿态反步滑模控制研究

发表时间:2015-08-31  浏览量:1547  下载量:448
全部作者: 蓝益鹏,薛伟霖
作者单位: 沈阳工业大学电气工程学院
摘 要: 对四旋翼无人机姿态提出非线性反步滑模控制,建立四旋翼无人机姿态的非线性数学模型。为实现对姿态的准确跟踪和较好的鲁棒性,将反步控制与滑模控制相结合,推导出反步滑模控制器。正弦力矩干扰下进行仿真实验,仿真结果表明,用该方法设计的系统能很好地控制四旋翼无人机的姿态。
关 键 词: 控制理论;四旋翼;姿态控制;反步滑模控制
Title: Backstepping sliding mode controller for flight attitude of quadrotor unmanned aerial vehicle
Author: LAN Yipeng, XUE Weilin
Organization: School of Electrical Engineering, Shenyang University of Technology
Abstract: A nonlinear adapative backstepping sliding control was proposed for the attitude of quadrotor unmanned aerial vehicle. We built a nonlinear mathematical model for it. In order to realize the accurate tracking and robust performance of the attitude tracking, a backstepping sliding mode controller was derived by combing the backstepping and sliding mode control. Simulation experiments with sine moment disturbance were carried out, which showed that the proposed controller could well control the attitude of quadrotor unmanned aerial vehicle.
Key words: control theory; quadrotor; attitude control; backstepping sliding control
发表期数: 2015年8月第16期
引用格式: 蓝益鹏,薛伟霖. 四旋翼无人机姿态反步滑模控制研究[J]. 中国科技论文在线精品论文,2015,8(16):1725-1729.
 
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