针对强耦合和欠驱动的四旋翼飞行器系统,结合跟踪微分器和扩张状态观测器设计了一种鲁棒容错抗扰动的反步滑模控制方法,应用于四旋翼飞行器期望轨迹的跟踪。整个控制系统采用双闭环回路结构,内回路为姿态控制回路,外回路为位置控制回路。数值仿真实验和低算力真机验证实验均表明,相比传统的控制算法,文中提出的控制算法具备良好的鲁棒性、容错性和抗扰性,应用在四旋翼飞行器上能够使其更为精确地完成轨迹跟踪任务。

A robust fault-tolerant and perturbation-resistant reverse-step sliding mode control method is designed for the quadrotor system with strong coupling and underactuated force, combining the tracking differentiator and the extended state observer, and applied to the desired trajectory tracking of the quadrotor. The whole control system adopts double closed loop structure, the inner loop is attitude control loop, the outer loop is position control loop. Numerical simulation experiments and real machine verification experiments with low computational forces show that compared with traditional control algorithms, the proposed control algorithm has good robustness, fault tolerance and disturbance rejection, and can be applied to the quadrotor to complete the trajectory tracking task more accurately.

TN957.52;TP212.9