基于微分平滑的四旋翼运输系统轨迹跟踪控制.docx

基于微分平滑的四旋翼运输系统轨迹跟踪控制
摘要
随着无人机技术的发展，四旋翼无人机作为一种轻型、便携、灵活多变的飞行器，被广泛应用于搜索救援、影视拍摄、城市规划等领域。然而，四旋翼无人机在完成任务时，稍有不慎就可能出现偏离预定轨迹的情况，从而影响飞行效果。为了解决这个问题，本文提出了一种基于微分平滑的四旋翼运输系统轨迹跟踪控制方法。该方法采用微分平滑算法实现轨迹平滑，并结合终端滑模控制算法进行轨迹跟踪控制，实现了四旋翼无人机在飞行过程中精确、稳定地跟踪预定轨迹。仿真实验表明，该控制方法稳定可靠，对四旋翼运输系统轨迹跟踪具有较好的鲁棒性和精度。
关键词：四旋翼无人机；微分平滑；轨迹跟踪控制；终端滑模控制；鲁棒性
Introduction
Withthedevelopmentofunmannedaerialvehicle(UAV)technology,quadrotorUAVshavebecomeapopulartypeoflightweight,portable,andflexibleflightdeviceinvariousapplicationssuchassearchandrescue,filming,andurbanplanning.However,quadrotorUAVsmaydeviatefromtheirintendedtrajectoriesduringtasks,whichcanaffecttheireffectiveness.Therefore,inthispaper,atrajectorytrackingcontrolmethodbasedondifferentialsmoothingforquadrotortransportsystemsisproposed.Themethodusesdifferentialsmoothingalgorithmstoachievesmoothtrajectoriesandcombinesterminalslidingmodecontrolalgorithmstotrackthetrajectoriesaccuratelyandstablyduringflightprocesses.Simulationexperimentsshowthattheproposedcontrolmethodisstableandreliable,andhasgoodrobustnessandaccuracyintrackingtrajectoriesforquadrotortransportsystems.
StateoftheArt
Thetraditionallinearproportional-integral-derivative(PID)controlmethodiswidelyusedinquadrotorUAVcontrol.However,ithassomelimitationssuchaslargeovershoot,poorstability,andweakrobustness,limitingitsapplicationincomplexflightmissions.Therefore,someresearchershaveproposedvariousadvancedcontrolmethods,suchasadaptivecontrol,modelpredictivecontrol,nonlinearcontrol,andslidingmodecontrol.Amongthem,theslidingmodecontrolmethodhasbeenwidelyappliedinthetrajectorytrackingofquadrotorUAVsduetoitsstrongrobustnessandadaptability.
However,slidingmodecontrolstillhassomedisadvantages,suchaschatteringphenomenon,controlsignalspikes,anddiscontinuouscontrolinput,whichcanleadtophysicaldamagetothevehicleormissionfailure.Therefore,somescholarshaveproposedthedifferentialsmoothingalgorithm,whichcanachievestableandrobustcontroloutputsbyeliminatingthechatteringphenomenon,reducingcontrolsignalspikesandrealizingcont