管锡敏;张会;吴昭景;

• 1:烟台大学数学与信息科学学院

摘要(Abstract)：

研究了四旋翼飞行器的轨迹跟踪控制问题。首先根据经典的动力学模型建立惯性坐标系下带有扰动的四旋翼方程。其次将系统划分为姿态子系统和位置子系统，对姿态子系统的轨迹跟踪控制，采用反步控制与滑模控制相结合的方法，根据飞行器的欠驱动和强耦合特性，利用反步控制方法实现位置子系统的轨迹跟踪控制。然后对系统进行稳定性分析。最后通过仿真实验结果验证所提出控制方法的有效性。

关键词(KeyWords)： 四旋翼飞行器;反步控制;滑模控制;轨迹跟踪

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金资助项目(61703359,62073275)

作者(Authors): 管锡敏;张会;吴昭景;

DOI: 10.13951/j.cnki.37-1213/n.210619

参考文献(References)：

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