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针对四旋翼飞行器自稳定飞行和轨迹跟踪控制问题,提出了一种多模态滑模姿态控制和新型回馈递推轨迹跟踪控制方法。首先,依据牛顿第二定律和欧拉方程建立了运动学方程,由于外环位置跟踪控制与内环姿态存在严重耦合,外环位置控制器采用新型回馈递推法设计,简单有效,同时降低了工程实现难度。其次,内环姿态控制根据多模态滑模设计理念,结合线性滑模和非奇异终端滑模特点设计了切换型滑模控制律,使得系统状态能够在最优模态下运行,同时保证系统的到达时间和滑动时间都是有限的,实现了全局快速收敛。最后,仿真实验数据表明所设计的控制器能够快速跟踪期望姿态和轨迹,具有较好的控制效果。
Aiming at the problem of self-stable flight and trajectory tracking control of quadrotor, a multi-modal sliding mode attitude control and a new feedback recursive trajectory tracking control method are proposed. First of all, based on Newton’s second law and Euler’s equation, kinematics equations are established. Because of the serious coupling of outer-loop position tracking control and inner-loop attitude, the outer-loop position controller adopts the new feedback recursive design, which is simple and effective Project realization difficulty. Secondly, according to the design concept of multi-modal sliding mode, the inner loop attitude control is designed based on the characteristics of sliding mode and non-singular terminal sliding mode. The sliding mode control law is designed so that the system state can be operated in the optimal mode, The arrival time and the sliding time are both limited, achieving global fast convergence. Finally, simulation results show that the designed controller can quickly track the desired attitude and trajectory with good control effect.