基于滑模PID的微型旋翼飞行器轨迹跟踪控制

吉林大学学报(信息科学版) ›› 2014, Vol. 32 ›› Issue (4): 383-388.

基于滑模PID的微型旋翼飞行器轨迹跟踪控制

贾鹤鸣, 柳泽铭, 张金阳

东北林业大学机电工程学院, 哈尔滨 150040

收稿日期:2013-08-12 出版日期:2014-07-24 发布日期:2014-12-18
作者简介:贾鹤鸣(1983—), 男, 哈尔滨人, 东北林业大学副教授, 硕士生导师, 主要从事非线性系统控制与滤波技术、林业机器人智能控制技术研究, (Tel)86-13206666920(E-mail)jiaheminglucky99@126.com。
基金资助:
中央高校基本科研业务费专项资金资助项目(DL13BB14)；东北林业大学大学生创新训练基金资助项目(2013)；国家自然科学基金资助项目(30972424)

Trajectory Tracking Control of Rotating Wing Micro Aerial Vehicle Based on Sliding Mode PID

JIA Heming, LIU Zeming, ZHANG Jinyang

College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China

Received:2013-08-12 Online:2014-07-24 Published:2014-12-18

摘要/Abstract

摘要：

针对微型旋翼飞行器的轨迹跟踪精度不高的问题, 提出一种基于自适应调节PID（Proportion Integration Differentiation）增益的滑模控制器。基于李亚普诺夫稳定性理论, 通过自适应律在线调节PID控制增益参数, 设计饱和函数抑制滑模控制器的高频抖振, 以实现轨迹跟踪误差系统对模型参数变化和外部扰动的鲁棒性。仿真结果表明, 该控制器能驱动旋翼飞行器精确跟踪期望的轨迹, 具有较高的控制精度, 能满足实际工程应用的要求。

关键词: 微型旋翼飞行器, 轨迹跟踪, 自适应滑模控制, PID增益调节

Abstract:

Aiming at the trajectory tracking problem of rotating wing micro aerial vehicle, an adaptive sliding mode controller based on adjusting the PID（Proportion Integration Differentiation）gain is proposed. To achieve the trajectory tracking error robustness of the model parameter variations and external disturbances, basing on Lyapunov stability theory, an adaptive law is adopted to adjust PID control gain parameters online. Saturation function is designed to inhibit sliding mode controller high-frequency chattering. Simulation results illustrate that the designed controller can drive the micro aerial vehicle to track the desired trajectory accurately, obtaining high precision, and can meet the requirements of practical engineering applications.

Key words: rotating wing micro aerial vehicle, trajectory tracking, adaptive sliding mode control, PID gain turning

中图分类号:

TP273

贾鹤鸣, 柳泽铭, 张金阳. 基于滑模PID的微型旋翼飞行器轨迹跟踪控制[J]. 吉林大学学报(信息科学版), 2014, 32(4): 383-388.

JIA Heming, LIU Zeming, ZHANG Jinyang. Trajectory Tracking Control of Rotating Wing Micro Aerial Vehicle Based on Sliding Mode PID[J]. Journal of Jilin University(Information Science Ed, 2014, 32(4): 383-388.

[1]	徐腾, 陈虹, 顾万里. 基于DFL 的地面运动基座轨迹跟踪控制[J]. 吉林大学学报(信息科学版), 2016, 34(1): 59-66.
[2]	宋文龙, 张金阳, 贾鹤鸣. 飞艇森林巡防轨迹跟踪的滑模控制[J]. 吉林大学学报(信息科学版), 2014, 32(2): 158-163.