【摘要】：文章針對四旋翼飛行器的飛行控制設(shè)計了滑模控制器。針對飛行器的高度控制,設(shè)計了一種基于滑�？刂品椒ǖ目刂破�,并根據(jù)李雅普諾夫穩(wěn)定性理論證明了飛行器系統(tǒng)的所有信號最終是一致有界的;針對飛行器的姿態(tài)控制設(shè)計了滑模控制器,并對其進(jìn)行了穩(wěn)定性證明,且針對該控制器產(chǎn)生較大抖振的問題提出了采用雙冪次趨近率的改進(jìn)方法。仿真結(jié)果證明了設(shè)計的控制器能較好地控制四旋翼飛行器。
[Abstract]:In this paper, a sliding mode controller is designed for the flight control of a four-rotor aircraft. A kind of controller based on sliding mode control method is designed for altitude control of aircraft, and all signals of aircraft system are proved to be uniformly bounded according to Lyapunov stability theory. A sliding mode controller is designed for attitude control of aircraft, and its stability is proved. An improved method of double power convergence rate is proposed to solve the problem of large buffeting of the controller. The simulation results show that the controller can control the four-rotor aircraft well.
【作者單位】： 合肥工業(yè)大學(xué)計算機與信息學(xué)院;
【基金】：國家自然科學(xué)基金資助項目(61100211)
【分類號】：V249.1

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