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首页> 外文期刊>Arabian Journal for Science and Engineering. Section A, Sciences >An Improved Design of Integral Sliding Mode Controller for Chattering Attenuation and Trajectory Tracking of the Quadrotor UAV
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An Improved Design of Integral Sliding Mode Controller for Chattering Attenuation and Trajectory Tracking of the Quadrotor UAV

机译：用于抖动衰减和轨迹跟踪的整体滑动模式控制器的改进设计，Quadrotor UAV的轨迹跟踪

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摘要

The quadrotor unmanned aerial vehicles (UAV) are rich system with attractive and challenging properties such as nonlin-earities and underactuated dynamics, which motivates researchers to design advancdd and robust control algorithms. In this paper, we contribute to a further improved design of quadrotor UAV. The quadrotor dynamics and kinematics equations are briefly presented. Then, an improved integral sliding mode controller (ISMC) has been proposed and applied within an inner loop to stabilize and track the quadrotor attitude at the desired values. The aim is to enhance the performance of the ISMC controller by eliminating the chattering problem, meanwhile maintaining the trajectory tracking in a robust fashion. In our design, the switching function (sign(s)), causing the chattering, is replaced by the approximated functions (tan h, error, saturation, quasi-sliding mode method) in the ISMC control law. PD controller is applied as an outer loop controller to enable the quadrotor to track the desired position. The performance of the proposed ISMC controller is studied with regard to the chattering attenuation and trajectory tracking robustness and tested by simulation MATLAB/ SIMULINK. Finally, a comparison with the switching function (sign(s)) is performed to alleviate the superior performance of the proposed design.
机译：Quadrotor无人驾驶飞行器（UAV）是丰富的系统，具有吸引力和具有挑战性的属性，如非林节和欠抗动力学，这激励了设计人员设计advancdd和鲁棒控制算法。在本文中，我们有助于进一步改进的四轮车UAV设计。简要介绍了四核电动机动力学和运动学方程。然后，已经提出了一种改进的整体滑动模式控制器（ISMC）并在内环内施加，以稳定并跟踪所需值的Quadrotor姿态。目的是通过消除抖动问题来增强ISMC控制器的性能，同时以强大的方式保持轨迹跟踪。在我们的设计中，切换功能（符号），导致抖动，由ISMC控制法中的近似函数（TAN H，误差，饱和度，准滑动模式方法）取代。 PD控制器被应用为外环控制器，以使得四轮电机能够跟踪所需位置。关于喋喋不休的衰减和轨迹跟踪稳健性以及通过仿真MATLAB / SIMULINK测试的扫描衰减和轨迹跟踪，研究了所提出的ISMC控制器的性能。最后，执行与切换功能的比较（符号）以缓解所提出的设计的优异性能。

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