Wang Ning, Deng Qi, Xie Guangming, Pan Xinxiang
School of Marine Electrical Engineering, Center for Intelligent Marine Vehicles, Dalian Maritime University, Dalian, 116026, China.
School of Marine Electrical Engineering, Center for Intelligent Marine Vehicles, Dalian Maritime University, Dalian, 116026, China.
ISA Trans. 2019 Jul;90:278-286. doi: 10.1016/j.isatra.2018.12.042. Epub 2019 Jan 25.
In this paper, accurate trajectory tracking control problem of a quadrotor with unknown dynamics and disturbances is addressed by devising a hybrid finite-time control (HFTC) approach. An adaptive integral sliding mode (AISM) control law is proposed for altitude subsystem of the quadrotor, whereby underactuated characteristics can decoupled. Backstepping technique is further deployed to control the horizontal position subsystem. To exactly attenuate external disturbances, a finite-time disturbance observer (FDO) combining with nonsingular terminal sliding mode (NTSM) control strategy is constructed for attitude subsystem, and thereby achieve finite-time stability. Using the compounded control scheme, trajectory tracking errors can be stabilized rapidly. Simulation results and comprehensive comparisons show that the proposed HFTC scheme has remarkably superior performance.
本文通过设计一种混合有限时间控制（HFTC）方法，解决了具有未知动力学和干扰的四旋翼飞行器精确轨迹跟踪控制问题。针对四旋翼飞行器的高度子系统提出了一种自适应积分滑模（AISM）控制律，借此可解耦欠驱动特性。进一步采用反步法控制水平位置子系统。为精确衰减外部干扰，针对姿态子系统构建了一种结合非奇异终端滑模（NTSM）控制策略的有限时间干扰观测器（FDO），从而实现有限时间稳定性。采用复合控制方案，可快速稳定轨迹跟踪误差。仿真结果和综合比较表明，所提出的HFTC方案具有显著优越的性能。
