| 引用本文: | 王加朋,杨瑜杰,杨家宁,罗家祥.四旋翼姿态系统的预定时间非奇异快速终端滑模控制[J].控制理论与应用,2026,43(5):1162~1169.[点击复制] |
| WANG Jia-peng,YANG Yu-jie,YANG Jia-ning,LUO Jia-xiang.Predefined-time non-singular fast terminal sliding mode control for quadrotor UAV attitude systems[J].Control Theory & Applications,2026,43(5):1162~1169.[点击复制] |
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| 四旋翼姿态系统的预定时间非奇异快速终端滑模控制 |
| Predefined-time non-singular fast terminal sliding mode control for quadrotor UAV attitude systems |
| 摘要点击 386 全文点击 21 投稿时间：2024-05-23 修订日期：2025-11-21 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2025.40294 |
| 2026,43(5):1162-1169 |
| 中文关键词 四旋翼无人机 姿态跟踪 预定时间控制 终端滑模 干扰观测器 |
| 英文关键词 quadrotor UAV attitude tracking predefined-time control terminal sliding mode disturbance observer |
| 基金项目 国家自然科学基金项目(61164015), 河南省高校基本科研业务费专项资金项目(NSFRF240333), 河南省高等学校重点科研项目(26A413006)资助. |
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| 中文摘要 |
| 本文对含未知干扰和执行器饱和的四旋翼无人机姿态系统, 提出了一种新型预定时间姿态跟踪控制方法.
首先将姿态跟踪误差系统中的未知干扰和输入饱和, 采用基于分段双曲正切函数方法转化为线性近似部分和集总
干扰部分; 其次对集总干扰, 通过引入辅助动态系统和辅助误差, 提出一种新型预定时间非奇异快速终端滑模自适
应干扰观测器, 可在预定时间内对集总干扰快速估计; 然后结合干扰观测器设计了一种新型预定时间非奇异快速
终端滑模控制器, 并且利用Lyapunov函数方法证明了所提控制方法可在预定时间内实现实际预定时间稳定, 稳定时
间由用户预先设置而不依赖于系统初始条件和控制器参数. 最后实验仿真验证了所提控制方法的有效性. |
| 英文摘要 |
| A novel predefined-time attitude tracking control method is proposed in this paper for a quadrotor UAV attitude
system with unknown disturbances and actuator saturation. Firstly, the unknown disturbance and the input saturation in
the attitude tracking error system are transformed into the linear approximation part and the lumped disturbance part based
on the piecewise hyperbolic tangent function method. Secondly, by introducing auxiliary dynamic systems and auxiliary
error variables, a new predefined-time non-singular fast terminal sliding mode adaptive disturbance observer is proposed
to achieve rapid estimation of the lumped disturbance within the user’s predefined time. Then, a novel predefined-time
non-singular fast terminal sliding mode controller is designed based on the disturbance observer. Furthermore, utilizing
the Lyapunov function method, it has been proven that the proposed control method can achieve practical predefined-time
stability, and the stabilization time, which is independent of the system’s initial states and the controller’s parameters, can
be predetermined by the user. Finally, the effectiveness of the proposed method is verified through experimental simulation. |
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