时变的陀螺仪偏差下四旋翼无人机有限时间姿态跟踪控制

Finite-time attitude tracking control of quadrotor UAV with time-varying gyroscope biases

中文关键词  四旋翼无人机  陀螺仪偏差  姿态跟踪  有限时间控制

英文关键词  quadrotor UAV  gyroscopic bias  attitude tracking  finite-time control

中文摘要

      本文主要研究了时变的陀螺仪偏差下四旋翼无人机的有限时间姿态跟踪控制问题.首先,利用陀螺仪测量 模型,建立带陀螺仪偏差的四旋翼无人机姿态控制模型;然后,根据可测量的姿态信息,利用超螺旋滑模观测技术, 设计一种有限时间陀螺仪观测器估计未知偏差;接着,将偏差估计值引入滑模面设计,再利用积分终端滑模技术,设 计一种有限时间姿态跟踪控制器.严格的理论分析证明,在陀螺仪偏差存在的情况下,实际姿态可以在有限时间内 跟踪上期望姿态;最后,搭建四旋翼姿态测试平台,通过实验对比验证所提方法的有效性.

英文摘要

      This paper investigates the finite-time attitude tracking control problem of quadrotor unmanned aerial vehicles (UAVs) under time-varying gyroscopic biases. Firstly, utilizing the gyroscope measurement model, a quadrotor UAV attitude control model with gyroscopic biases is established. Then, based on measurable attitude information, a finite time gyroscopic observer is designed using the super-twisting sliding mode observer technique to estimate unknown drift biases. Subsequently, the estimated bias values are introduced into the sliding mode surface design, and a finite-time attitude tracking controller is developed using integral terminal sliding mode techniques. Rigorous theoretical analysis demonstrates that under the presence of gyroscopic biases, the actual attitude can track the desired attitude within finite time. Finally, an experimental platform for quadrotor attitude testing is constructed, and experimental comparisons are conducted to verify the effectiveness of the proposed methods.