Xiong Jing-Jing, Zhang Guo-Bao
Key Laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation, Southeast University, Nanjing 210096, PR China.
ISA Trans. 2017 Jan;66:233-240. doi: 10.1016/j.isatra.2016.09.019. Epub 2016 Oct 20.
A control method based on global fast dynamic terminal sliding mode control (TSMC) technique is proposed to design the flight controller for performing the finite-time position and attitude tracking control of a small quadrotor UAV. Firstly, the dynamic model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. Secondly, the dynamic flight controllers of the quadrotor are formulated based on global fast dynamic TSMC, which is able to guarantee that the position and velocity tracking errors of all system state variables converge to zero in finite-time. Moreover, the global fast dynamic TSMC is also able to eliminate the chattering phenomenon caused by the switching control action and realize the high precision performance. In addition, the stabilities of two subsystems are demonstrated by Lyapunov theory, respectively. Lastly, the simulation results are given to illustrate the effectiveness and robustness of the proposed control method in the presence of external disturbances.
提出了一种基于全局快速动态终端滑模控制（TSMC）技术的控制方法，用于设计飞行控制器，以实现小型四旋翼无人机的有限时间位置和姿态跟踪控制。首先，将四旋翼的动力学模型分为两个子系统，即完全驱动子系统和欠驱动子系统。其次，基于全局快速动态TSMC制定了四旋翼的动态飞行控制器，该控制器能够保证所有系统状态变量的位置和速度跟踪误差在有限时间内收敛到零。此外，全局快速动态TSMC还能够消除切换控制动作引起的抖振现象，实现高精度性能。另外，分别用李雅普诺夫理论证明了两个子系统的稳定性。最后，给出了仿真结果，以说明所提控制方法在存在外部干扰情况下的有效性和鲁棒性。
