[1]张昭琪,李平.固定时间扩张状态观测器下的四旋翼飞行器滑模控制策略[J].华侨大学学报(自然科学版),2023,44(1):12-20.[doi:10.11830/ISSN.1000-5013.202204029]
　ZHANG Zhaoqi,LI Ping.Sliding-Mode Control Strategy of Quadrotor With Fixed-Time Extended State Observer[J].Journal of Huaqiao University(Natural Science),2023,44(1):12-20.[doi:10.11830/ISSN.1000-5013.202204029]
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固定时间扩张状态观测器下的四旋翼飞行器滑模控制策略()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第44卷
期数:
2023年第1期
页码:
12-20
栏目:
出版日期:
2023-01-10

文章信息/Info

Title:
Sliding-Mode Control Strategy of Quadrotor With Fixed-Time Extended State Observer
文章编号:
1000-5013(2023)01-0012-09
作者:
张昭琪;  李平
华侨大学 信息科学与工程学院, 福建 厦门 361021
Author(s):
ZHANG Zhaoqi;  LI Ping
College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China
关键词:
四旋翼飞行器;  滑模控制;  固定时间扩张状态观测器;  轨迹跟踪
Keywords:
quadrotor;  sliding-mode control;  fixed-time extended state observer;  tracking trajectory
分类号:
V249.122;TP273
DOI:
10.11830/ISSN.1000-5013.202204029
文献标志码:
A
摘要:
针对滑模控制中系统状态接近滑模面后存在的抖颤现象,提出一种基于固定时间扩张状态观测器(FTESO)的二阶滑模控制策略.首先,设计全驱动子系统及欠驱动子系统的控制结构中的二阶滑模控制器;然后,通过FTESO对内部的参数不确定及外部扰动进行观测,在一定时间上限内收敛到观测值,利用观测值对控制器进行补偿,从而减少甚至消除抖颤现象;最后,通过李亚普诺夫函数保证设计的四旋翼飞行器系统的闭环稳定性,并进行仿真实验.结果表明:文中提出的控制策略具有优越性.
Abstract:
Aiming at the chattering phenomenon after the system approaching the sliding-mode hyperplane in sliding-mode control, a second order sliding mode control strategy base on fixed-time extended state observer(FTESO)is proposed. Firstly, the second order sliding-mode controller is designed in the control structure of fully-actuated subsystem and under-actuated subsystem. Then, the internal parameter uncertainties and external disturbances are observed by FTESO, which converge to the observed values within a certain time limit, the observed values are used to compensate the controller, so as to reduce or even eliminate the chattering phenomenon. Finally, the closed-loop stability of the designed quadrotor system is guaranteed through Lyapunov function, and simulation experiments are carried out. The results show that the proposed control strategy in this paper has advantages.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2022-04-29
通信作者: 李平(1981-),女,副教授,博士,主要从事鲁棒控制及非线性系统的研究.E-mail:pingping_1213@163.com.
基金项目: 国家自然科学基金资助项目(61403149); 福建省自然科学基金资助项目(2019J01053)
更新日期/Last Update: 2023-01-20