注：国家自然科学基金资助项目（NO.11472058）
作者：张世先，管萍
单位：北京信息科技大学自动化学院，北京 100192
中图分类号：V 249.122+.2   
文献标识码：A     
文章编号：1006-883X(2018)04-0015-07
收稿日期：2018-03-10

摘要：针对四旋翼飞行器参数变化的姿态控制问题，将自适应光滑二阶滑模控制方法应用于四旋翼飞行器控制系统。对于参数变化引起的模型不确定性部分采用滑模干扰观测器进行补偿，对姿态系统设计自适应光滑二阶滑模控制器，有效地减弱传统滑模控制的抖振，控制器参数的在线调整提高了系统的控制精度。基于Lyapunov理论证明了系统的有限时间稳定。数字仿真和实验结果都验证了所提控制方法的有效性。
关键词：四旋翼飞行器；姿态控制；不确定性；二阶滑模控制；干扰观测器

Adaptive Second-order Sliding Mode Control for Quadrotors
ZHANG Shi-xian, GUAN Ping
School of Automation, Beijing University of Information Science and Technology, Beijing 100192, China
Abstract: An adaptive smooth second-order sliding mode control method is applied to the attitude control system of quadrotor with varying parameters. A sliding mode disturbance observer is used to compensate the model uncertainty, an adaptive smooth second-order sliding mode controller is designed for attitude system, which weakens the chattering of traditional sliding mode control effectively. The on-line adjustment of controller parameters improves the control precision of system. Moreover, finite-time stability of the entire system is proved based on the Lyapunov theory. Finally, the results of experiments and Simulink show that the proposed control method has good effectiveness.
Key words: quad-rotor; attitude control; uncertainties; second-order sliding mode control; disturbance observer

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备注：2018年 第24卷 第04期