Yang Mingbo, Zhou Ziyang, You Xiangming
Department of Mechanical and Electronic Engineering, School of Mechanical and Material Engineering, North China University of Technology, Beijing 100144, China.
Sensors (Basel). 2022 May 11;22(10):3648. doi: 10.3390/s22103648.
In power inspection, uncertainties, such as wind gusts in the working environment, affect the trajectory of the inspection UAV (unmanned aerial vehicle), and a sliding mode adaptive robust control algorithm is proposed in this paper to solve this problem. For the nonlinear and under-driven characteristics of the inspection UAV system, a double closed-loop control system which includes a position loop and attitude loop is designed. Lyapunov stability analysis is used to determine whether the designed system could finally achieve asymptotic stability. Sliding-mode PID control and a backstepping control algorithm are applied to analyze the superiority of the control algorithm proposed in this paper. A PX4 based experimental platform system is built and experimental tests were carried out under outdoor environment. The effectiveness and superiority of the control algorithm are proposed in this paper. The experimental results show that the sliding mode PID control can achieve good accuracy with smaller computing costs. For nonlinear interference, the sliding mode adaptive robust control strategy can achieve higher trajectory tracking accuracy.
在电力巡检中，工作环境中的阵风等不确定性因素会影响巡检无人机的轨迹，为此本文提出一种滑模自适应鲁棒控制算法来解决这一问题。针对巡检无人机系统的非线性和欠驱动特性，设计了一种包含位置环和姿态环的双闭环控制系统。利用李雅普诺夫稳定性分析来确定所设计的系统最终是否能实现渐近稳定。应用滑模PID控制和反步控制算法来分析本文所提出控制算法的优越性。搭建了基于PX4的实验平台系统，并在室外环境下进行了实验测试。本文验证了所提出控制算法的有效性和优越性。实验结果表明，滑模PID控制能够以较小的计算成本实现良好的精度。对于非线性干扰，滑模自适应鲁棒控制策略能够实现更高的轨迹跟踪精度。
