非匹配扰动干扰下的无人直升机轨迹跟踪控制

Robust trajectory tracking control for unmanned helicopter with mismatched disturbances

中文关键词  小型无人直升机  轨迹跟踪控制  非匹配扰动  扩展扰动观测器  滑模控制

英文关键词  small-scale unmanned helicopter  trajectory tracking control  mismatched disturbances  extended disturbance observer (EDO)  sliding mode control (SMC)

中文摘要

      针对小型无人直升机在飞行过程中容易受到非匹配扰动影响的特点, 本文设计了一种基于新型滑模控制 方法的轨迹跟踪控制器. 首先, 建立了无人直升机系统的非线性数学模型, 并对该模型进行近似反馈线性化处理, 同时将模型分为位置和偏航两个子系统; 然后, 利用扩展扰动观测器对复合扰动以及非匹配扰动的各阶导数的估 计值, 设计新型时变滑模面, 得到滑模控制律, 并给出了控制系统的稳定性分析; 最后, 仿真结果验证了控制方法的 有效性和优越性. 该新型滑模控制方法的优越性主要体现在: 对非匹配扰动具有较强的鲁棒性, 以及能有效地抑制 抖振现象.

英文摘要

      We investigate the robust trajectory tracking controller based on extended disturbance observer (EDO) and sliding mode control algorithm for small-scale unmanned helicopters in the presence of mismatched disturbances. First, a nonlinear mathematical model of unmanned helicopter is presented, to which the approximate linearization technique is applied for partitioning it into two interconnected subsystems: position subsystem and yaw subsystem. Then, by integrating the mismatched disturbances and their derivatives into the new time-varying sliding- mode surface, we develop a novel sliding-mode controller for the helicopter system. Moreover, the stability analysis of the closed-loop system is given. Finally, some comparative simulation results are presented to illustrate the effectiveness and superiority of the proposed control method for unmanned helicopters. This novel sliding-mode controller has two key advantages: insensitivity to mismatched disturbances and suppression of chattering phenomenon.