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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Backstepping Sliding-Mode and Cascade Active Disturbance Rejection Control for a Quadrotor UAV
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Backstepping Sliding-Mode and Cascade Active Disturbance Rejection Control for a Quadrotor UAV

机译：对四轮车UAV的支持滑模和级联主动干扰抑制控制

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摘要

This article studies the robust trajectory tracking control problem of a quadrotor unmanned aerial vehicle (UAV). In order to guarantee the desired trajectory tracking performance in the presence of external disturbances and model uncertainties, the design process of the quadrotor UAV controller is divided into two steps. First, by decomposing the attitude dynamic system into two serial-connected subsystems, a cascade active disturbance rejection control scheme is applied to the attitude subsystem. Second, by introducing an additional high-gain design parameter, a novel backstepping sliding-mode control scheme for position subsystem is constructed. Moreover, the Lyapunov stability analysis is provided to show that the trajectory tracking error can converge to an arbitrarily small residual set. Numerical results illustrate the effectiveness of the designed control method and its robustness to the external disturbances and model uncertainties. Finally, the proposed method is implemented on a quadrotor UAV to demonstrate its feasibility in practical application.
机译：本文研究了四轮车无人机（UAV）的强大轨迹跟踪控制问题。为了保证在存在外部干扰和模型不确定性的情况下所需的轨迹跟踪性能，Quadrotor UAV控制器的设计过程分为两个步骤。首先，通过将姿态动态系统分解成两个串行连接的子系统，将级联主动扰动抑制控制方案应用于姿态子系统。其次，通过引入额外的高增益设计参数，构造了一个用于位置子系统的新型BackStepping滑模控制方案。此外，提供了Lyapunov稳定性分析以表明轨迹跟踪误差可以收敛到任意小的残差集。数值结果说明了设计的控制方法的有效性及其对外部干扰和模型不确定性的鲁棒性。最后，该方法在四元保护中实现了在实际应用中的可行性。

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