基于双观察员的滑动模式控制,用于具有未知干扰和时间变化的延迟的QUAV
Chuanfu Liang1, Yuanchun Ding2, Falu Weng3
1School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, Ganzhou, Jiangxi, 341000, China.
Scientific reports
|February 14, 2025
概括
这项研究引入了四旋翼无人机的新控制策略,提高了稳定性和精度,尽管存在未知的干扰和时间延迟. 双观察员方法确保了无人驾驶飞行器的强大性能.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 航空航天工程 航空航天工程
- 应用数学 应用数学 应用数学
背景情况:
- 四旋翼无人机 (QUAV) 容易因未知的外部干扰和内部时间变化的延迟而导致性能下降.
- 传统的控制方法经常在复杂的动态环境中扎于奇点问题和缓慢的融合.
- 强大而高效的控制对于各种应用中安全可靠的QUAV运行至关重要.
研究的目的:
- 为QUAVs开发一个非单元快速终端滑动模式控制 (NFTSMC) 方案.
- 为了应对未知的干扰和时间变化的延迟所带来的挑战.
- 为了提高 QUAV 态度和位置控制的融合速度和稳定性.
主要方法:
- 将QUAV模型解为独立的位置和态度子系统.
- 为位置子系统设计一个滑动模式控制器.
- 实施NFTSMC与态度子系统的指数项,以确保快速融合并避免奇点.
- 开发双观察员来估计未知的干扰和时间变化的延迟.
主要成果:
- 拟议的NFTSMC计划有效地控制了QUAV的位置和态度子系统.
- 双重观察员成功估计了未知的干扰和时间变化的延迟.
- 控制策略展示了无奇点的操作和态度角度的快速趋同.
- 计算机模拟验证了拟议的基于双观察员的控制方案的有效性和可行性.
结论:
- 本次提出的基于双观察员的NFTSMC方案为在不确定的条件下控制QUAV提供了强大而有效的解决方案.
- 该方法克服了传统滑动模式控制的局限性,特别是奇点和收速度.
- 这项研究有助于自主飞行器控制系统的进步.
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