基于滤噪微分器的四旋翼飞行器控制_宿敬亚.pdf

26 8 Vol. 26 No. 8 2009 8 Control Theory Applications Aug. 2009 :2009 , , , ( , 100191) : , , , . . , . . , . . : ; ; : V24 : A Controlling a four-rotor aircraft based on noise-attenuation differentiator SU Jing-ya, ZHANG Rui-feng, WANG Xin-hua, CAI Kai-yuan (School of Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China) Abstract: Angular rate feedback can improve dynamic performance of flight control systems. However, rate gyros are generally expensive and are often prone to degradation. A sliding-mode control scheme based on noise-attenuation differentiator is proposed for the four-rotor aircraft. The scheme only needs signals from attitude sensors instead of rate gyros. The angular rate information used in the scheme is obtained from a noise-attenuation differentiator which is proposed by Wang et al.. Theoretical analysis of the noise-attenuation performance of the differentiator is presented and an expression of the upper bound of the tracking error is derived in this paper. Simulations and experiments on a prototype of four-rotor aircraft are given to demonstrate the effectiveness and feasibility of the proposed scheme. Key words: four-rotor aircraft; differentiator; sliding mode control 1 (Introduction) SmithKalman, . , , , . . , , . .