引用本文:宿敬亚,张瑞峰,王新华,蔡开元.基于滤噪微分器的四旋翼飞行器控制[J].控制理论与应用,2009,26(8):827~832.[点击复制]
su jing-ya,ZHANG Ruifeng,WANG Xinhua,CAI Kai-yuan.Four-rotor aircraft control based on noise-attenuation differentiator[J].Control Theory and Technology,2009,26(8):827~832.[点击复制]
基于滤噪微分器的四旋翼飞行器控制
Four-rotor aircraft control based on noise-attenuation differentiator
摘要点击 2462  全文点击 2106  投稿时间：2008-05-27  修订日期：2008-12-13
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DOI编号  10.7641/j.issn.1000-8152.2009.8.CCTA080527
  2009,26(8):827-832
中文关键词  四旋翼飞行器  微分器  滑模变结构控制
英文关键词  four-rotor aircraft  differentiator  sliding mode control
基金项目  国家自然科学基金资助项目(60774008); 国家“863”计划资助项目(2006AA01Z174).
作者单位E-mail
宿敬亚* 北京航空航天大学 xiujingya@asee.buaa.edu.cn 
张瑞峰 北京航空航天大学 自动化科学与电气工程学院, 北京 100191  
王新华 北京航空航天大学自动化科学与电气工程学院, 北京100191  
蔡开元 北京航空航天大学自动化科学与电气工程学院, 北京100191  
中文摘要
      在飞行器的控制中, 角速率反馈可以提高控制系统的动态特性, 但速率陀螺价格昂贵, 且随运行时间的增加其性能会不断下降. 对此本文提出了一种基于滤噪微分器的四旋翼飞行器滑模变结构控制律. 该控制律使用的反馈信号仅由角度传感器得到, 而无需角速率传感器. 控制律中的角速率信息由王新华等设计的有限时间收敛的微分器得到. 本文通过数学证明, 给出了当测量信号中含有噪声时该微分器的理论跟踪误差上界. 仿真以及对四旋翼飞行器滚转姿态的控制实验验证了微分器的抑制噪声作用和控制算法可行性.
英文摘要
      Angular rate feedback can improve dynamic performance of flight control systems. However, rate gyros are generally expensive and are often prone to degradation. A sliding-mode control scheme based on noise-attenuation differentiator is proposed for the four-rotor aircraft. The scheme only needs signals from attitude sensors instead of rate gyros. The angular rate nformation used in the scheme is obtained from a noise-attenuation differentiator which is proposed byWang et al.. Theoretical analysis of the noise-attenuation performance of the differentiator is presented and an expression of the upper bound of the tracking error is derived in this paper. Simulations and experiments on a prototype of four-rotor aircraft are given to demonstrate the effectiveness and feasibility of the proposed scheme.