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四旋翼飞行器的滑模PID轨迹跟踪控制

刘云平 黄希杰 李先影 陈城

刘云平, 黄希杰, 李先影, 陈城. 四旋翼飞行器的滑模PID轨迹跟踪控制[J]. 机械科学与技术, 2017, 36(12): 1859-1865. doi: 10.13433/j.cnki.1003-8728.2017.1210
引用本文: 刘云平, 黄希杰, 李先影, 陈城. 四旋翼飞行器的滑模PID轨迹跟踪控制[J]. 机械科学与技术, 2017, 36(12): 1859-1865. doi: 10.13433/j.cnki.1003-8728.2017.1210
Liu Yunping, Huang Xijie, Li Xianying, Chen Cheng. Trajectory Tracking Control of Quad-rotor Unmanned Aerial Vehicles based on Sliding Mode PID[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(12): 1859-1865. doi: 10.13433/j.cnki.1003-8728.2017.1210
Citation: Liu Yunping, Huang Xijie, Li Xianying, Chen Cheng. Trajectory Tracking Control of Quad-rotor Unmanned Aerial Vehicles based on Sliding Mode PID[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(12): 1859-1865. doi: 10.13433/j.cnki.1003-8728.2017.1210

四旋翼飞行器的滑模PID轨迹跟踪控制

doi: 10.13433/j.cnki.1003-8728.2017.1210
基金项目: 

国家自然科学基金项目(51405243,51575283)与江苏省自然科学基金项目(BK20130999)资助

详细信息
    作者简介:

    刘云平(1979-),副教授,博士,硕士生导师,研究方向为智能机器人,多体系统动力学等,uav_nuist@sina.com

Trajectory Tracking Control of Quad-rotor Unmanned Aerial Vehicles based on Sliding Mode PID

  • 摘要: 针对传统PID在四旋翼飞行器轨迹跟踪控制方面存在的精度不高、鲁棒性差等不足,提出了一种滑模PID算法。并根据建立的四旋翼欧拉-庞卡莱动力学模型,设计滑模PID轨迹跟踪控制器。与传统PID算法相比,该算法通过选取PID滑模面,有效地提高系统的响应速度以及抗干扰的能力。通过MATLAB/Simulink,在不同条件下,分别对滑模PID和传统PID算法设计的控制系统进行仿真。仿真结果表明,该算法能够更为精确地跟踪期望轨迹,同时具有响应时间短,超调量小,鲁棒性强等优点。
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出版历程
  • 收稿日期:  2016-07-30
  • 刊出日期:  2017-12-15

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