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文章编号： 1672-6987（2025）01-0127-08 DOI： 10.16351/j.1672-6987.2025.01.017
任明， 徐洁*， 汪志锋（上海第二工业大学 智能制造与控制工程学院，上海 201209）
摘要： 针对四旋翼无人机在飞行控制过程中难以准确观测外界干扰，从而导致控制系统的鲁棒性较差的问题，设计了一种基于指数收敛干扰观测器的方法来实时估计外界干扰，并将这些观测值用作外界扰动的补偿依据，以增强控制系统的抗干扰能力。并分别在位置外环与姿态内环构造了非奇异终端滑模控制器，以使各状态跟踪误差能够在有限时间内收敛为零，解决了系统模型不确定性、欠驱动和强耦合等问题。基于Lyapunov稳定性判据证明了该控制系统的渐近稳定性，并证明系统状态变量跟踪误差从任意初始状态沿着滑模面到达平衡状态时间有限，通过仿真实验结果验证了所设计的观测器与控制器结合的控制方法在四旋翼无人机轨迹跟踪控制中具有较好的鲁棒性和抗干扰能力。
关键词： 四旋翼无人机； 指数收敛干扰观测器； 非奇异终端滑模控制； 轨迹跟踪
中图分类号： TP 273.2 文献标志码： A
引用格式： 任明， 徐洁， 汪志锋.基于指数收敛干扰观测器的四旋翼滑模控制［J］.青岛科技大学学报（自然科学版）， 2025， 46（1）： -.
REN Ming， XU Jie， WANG Zhifeng.Sliding mode control for quadrotor uav based on exponential convergent interference observer［J］.Journal of Qingdao University of Science and Technology（Natural Science Edition）， 2025， 46（1）： -.
Sliding Mode Control for Quadrotor UAV Based on Exponential Convergent Interference Observer
REN Ming， XU Jie， WANG Zhifeng（School of Intelligent Manufacturing and Control Engineering， Shanghai Polytechnic University， Shanghai 201209， China）
Abstract： As for the quadrotor UAV， it is very difficult to accurately observe with outside interference during flight control. which leads to the poor robustness of the Control system， an exponentially convergent disturbance observer-based method is employed in real time to estimate external disturbances. The observed values are then utilized to compensate for these disturbances， enhancing the anti-disturbance capability of the control system. Additionally， a non-singular terminal sliding mode controller is constructed for the position outer loop and attitude inner loop to ensure the convergence of each state tracking error to zero in finite time. This approach solves issues related to system model uncertainty， underdrive， and strong coupling. The Lyapunov stability criterion is used to demonstrate the asymptotic stability of the control system. The system's state variable tracking error has finite time to reach equilibrium from any initial state along the sliding mode surface. The simulation experiments have validated that the combined control method of observer and controller designed demonstrates good robustness and disturbance rejection capabilities in trajectory tracking control of quadrotor UAV， unmanned aerial vehicles.
Key words： quadrotor UAV； exponential convergence disturbance observer； non-singular terminal sliding mode control； trajectory tracking
收稿日期： 2023-12-26
作者简介： 任明（1997—），男，硕士研究生. * 通信联系人.
