使用混合LQR和超扭转滑动模式的超扭动耐扰四旋翼控制方法
Serkan Budak1, Cemil Sungur2, Akif Durdu3
1Electrical and Electronics Engineering, Konya Technical University, Konya, Turkey. sbudak@ktun.edu.tr.
Scientific reports
|February 18, 2026
概括
一个新的混合控制系统结合了线性四边形调节器 (LQR) 和超扭曲滑动模式控制 (STSMC),为四旋翼无人机 (UAV) 提供了卓越的姿态稳定. 这种强大的LQR-STSMC方法在具有挑战性的飞行条件下提高了故障耐受性和精度.
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
- 控制理论 控制理论
背景情况:
- 低调的四旋翼无人机 (UAV) 由于其复杂的动态和对外部干扰的敏感性,在姿态稳定方面存在重大挑战.
- 现有的控制策略,如线性二次调节器 (LQR) 和模型预测控制 (MPC),通常在不确定性和系统故障下与稳定性和性能退化作斗争.
研究的目的:
- 开发和验证一个强大的级联式混合控制架构,用于低功率四旋翼无人机的态度稳定.
- 为了提高四旋翼控制系统在不确定和安全关键环境中的故障耐受性和精度.
主要方法:
- 提出了一种混合控制架构,集成线性方位调节器 (LQR) 进行内环稳定和超扭曲滑动模式控制 (STSMC) 进行外环参考修改.
- 超扭曲滑动模式控制 (STSMC) 参数使用大爆炸-大崩 (BB-BC) 算法进行了全球优化,以最大限度地提高稳定性.
- 拟议的LQR-STSMC策略在各种干扰场景下,在Quanser 3-DOF Hover系统模型上与经典的LQR和模型预测控制 (MPC) 相比进行了评估.
主要成果:
- 拟议的LQR-STSMC控制器与LQR和MPC相比表现出更高的性能,实现了明显较低的错误指标 (ISE,IAE,ITAE).
- 混合控制方案表现出增强的故障耐受性,有效地管理风,不同推力系数,有效载荷释放和电机故障等干扰.
- 虚拟3D空间分析证实了旋转器尖端的位置稳定性,验证了控制策略的有效性.
结论:
- 级联的LQR-STSMC混合控制架构提供了一个高度可靠和坚固的解决方案,用于在未经调节的四旋翼无人机中稳定姿势.
- 这种方法提供了卓越的容错性,更快的稳定性和精确的跟踪能力,使其适用于安全关键的飞行操作.
- 优化的混合控制策略在处理模型不确定性和系统故障方面明显优于传统的LQR和MPC.
关键词:
大爆炸大崩优化大爆炸大崩.外部干扰 外部干扰有故障耐受性的控制器.混合动力控制控制器线性二次调节器 线性二次调节器模型预测控制模型预测控制参数不确定性 参数不确定性实用载荷的变化变化超扭转的滑动模式控制器更多相关视频
06:45Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
Published on: October 28, 2022
2.2K
08:18WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control
Published on: August 15, 2020
5.5K
相关概念视频
01:19PID Controller
777
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
777
01:22Multi-input and Multi-variable systems
431
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence of...
In the absence of...
431
01:17Open and closed-loop control systems
1.8K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.8K
01:26Feedback control systems
735
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
735
01:19Root-Locus Method
529
A cruise control system in a car is designed to maintain a specified speed automatically by adjusting the gas pedal. The system continuously measures the vehicle's speed and makes fine adjustments to the pedal to achieve this goal. The root locus method is particularly useful for understanding how the cruise control system's behavior changes under varying conditions, such as when the car goes uphill, downhill, or faces strong wind resistance.
This system can be represented by a block...
This system can be represented by a block...
529
01:26PD Controller: Design
679
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
679