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首页> 外文期刊>Control Engineering Practice >Robust path tracking of a quadrotor using adaptive fuzzy terminal sliding mode control
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Robust path tracking of a quadrotor using adaptive fuzzy terminal sliding mode control

机译：使用自适应模糊终端滑动模式控制的四足电池的鲁棒路径跟踪

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摘要

With the increasing use of quadrotors, the design of flight control systems has become particularly important. In this paper, a new robust flight control system consisted of an adaptive fuzzy terminal sliding mode controller, and two proportional-derivative (PD) controllers are proposed to stabilize a quadrotor and to track a predefined flight path in the presence of external disturbances and model uncertainties. The PD controllers determine the desired attitude of the quadrotor and terminal sliding mode control adjusts the rotation speed of rotors. The dynamics of the quadrotor and external disturbances are identified online by applying adaptive Mamdani fuzzy systems. Also, the control chattering is eliminated by defining a continuous terminal sliding mode. Two Kalman filters are also utilized to improve the estimation of the quadrotor attitude and position. The simulation results and real-time implementation of the proposed flight control system show the efficient performance of the control system during two flight scenarios of the quadrotor.
机译：随着二数石的使用越来越多，飞行控制系统的设计变得尤为重要。在本文中，提出了一种由自适应模糊终端滑动模式控制器组成的新的鲁棒飞行控制系统，以及两个比例衍生物（PD）控制器以稳定四足电池并在存在外部干扰和模型的情况下跟踪预定的飞行路径不确定因素。 PD控制器确定四轮车和终端滑动模式控制的所需姿态调节转子的转速。通过应用自适应Mamdani模糊系统在线在线在线识别了四轮压力机和外部干扰的动态。而且，通过限定连续终端滑动模式来消除控制抖动。两个卡尔曼滤波器也用于改善四轮车姿态和位置的估计。建议飞行控制系统的仿真结果和实时实施，展示了在四轮压发电机的两个飞行方案中控制系统的有效性能。

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