基于改进樽海鞘群算法的四旋翼飞行器姿态优化控制

针对集总干扰下四旋翼飞行器的姿态控制问题,提出了一种基于线性扩张状态观测器的快速连续非奇异终端滑模控制策略。该方法通过线性扩张状态观测器来估计和补偿集总干扰的影响,提高控制器的稳定性;借助非奇异终端滑模面有限时间收敛的特性设计控制律,加快控制器的收敛速度;控制器的稳定性分析由Lyapunov函数得以证明。引入樽海鞘群算法来优化控制器中的参数,提升控制性能。进一步地,引入一维正态云模型与自适应算子来克服参数整定算法的固有缺陷,增强其优化能力。通过仿真与试验验证了本文方法的有效性与实用性,结果表明:在阵风干扰下,本文方法比线性自抗扰控制策略具有更高的跟踪精度、更强的抗干扰能力与更快的响应速度。

Optimal Attitude Control for Quadrotor Aircraft Based on Improved Salp Swarm Algorithm

As a typical aerial robot, quadrotor has major advantages when used for aerial photography, environmental monitoring and surveillance in dangerous and complex environments. The robust control problem in attitude tracking of an unmanned aerial vehicle quadrotor is a challenging task due to strong parametric uncertainties, large nonlinearities, and high couplings in flight dynamics. Towards the attitude control of a quadrotor aircraft under lumped disturbances, a fast continuous nonsingular terminal sliding mode controller based on linear extended state observer was proposed. In this control structure, a linear extended state observer was used to estimate, and compensate the lumped disturbances, which can enhance the stability of the controller. With its finite time convergence characteristic the nonsingular terminal sliding mode was employed to design the control law, which can increase the convergence speed. Stability of the controller was proved through Lyapunov function. To enhance the control performance, a salp swarm algorithm was introduced to adjust the control parameters of the proposed controller. Furthermore, a 1 dimension positive cloud model and an adaptive operator were applied to overcome the defects of the salp swarm algorithm. Lastly, some simulation and experiments were conducted to test the efficiency and application of the controller. The results showed that the proposed controller had higher tracking accuracy, stronger anti disturbance ability and faster response speed.