基於特殊正交群SO(3)與積分型終端滑模的四旋翼無人機飛行控制器設計

A Flight Control Design for Quadrotor UAVs under SO(3) Attitude Representation Using Integral Terminal Sliding Mode

江栢祥(PO-HSIANG CHIANG)

指導教授 ： 游仁德

中原大學/電機資訊學院/電機工程學系/碩士(2022年)

https://doi.org/10.6840/cycu202201231

摘要

本論文主要研究四旋翼無人機的姿態和位置控制。首先將談論四旋翼無人機的基礎構造含硬體、韌體及飛行力學。接著將回顧其他常用姿態表示方法的優缺點。然後簡要介紹一種全域且唯一定義每一種姿態的特殊正交群SO(3)姿態表示法。基於這個姿態表示法，本文透過李亞普諾夫方程式與積分型終端滑動模式控制，設計姿態與位置控制器。除了保證無人機運動能力，滑動模式控制相較於比例積分微分控制器具有較好的強健性。最後並通過數值模擬與實際飛行實驗的結果對控制器進行有效性驗證。

關鍵字

四旋翼無人機 ； 姿態控制 ； 位置控制 ； 李亞普諾夫方程式 ； 積分型終端滑動模式控制

並列摘要

This paper studies the attitude and position control of quadrotor UAV. First, the basic knowledge about the structure of quadrotor drones including hardware, firmware and flight mechanics will be introduced. Second, the advantages and disadvantages of other commonly used attitude representation methods will be reviewed. Then, the special orthogonal group SO(3) attitude representation that uniquely defines each attitude is briefly introduced. Based on this attitude representation, this paper designs attitude and position controllers through the Lyapunov equation and the integral terminal sliding mode control. In addition to ensuring the movement ability of the UAV, the sliding mode control has better robustness than the proportional-integral-derivative controller. Finally, the effectiveness of the controller is verified by the results of numerical simulation and actual flight experiments.

並列關鍵字

Quadrotor ； Attitude Control ； Position Control ； Lyapunov equation ； Integral Terminal Sliding Mode

參考文獻

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