摘要
为实现四旋翼无人机的自主飞行控制,以自主研发的四旋翼无人机为研究对象,设计了速度控制系统;该速度控制系统采用加速度计、角速率陀螺仪和GPS测量数据,并设计卡尔曼滤波器来抑制传感器噪声,同时估计无法测得的状态变量;为了减小无人机的建模误差并提高控制系统鲁棒性,采用了模型参考滑模控制理论设计速度控制器;实验结果表明,该速度控制系统具有良好的跟踪和稳定性能。
In order to achieve quad--rotor UAV autonomous flight control , with self--developed quad--rotor UAV for the study, designed the speed control system. The velocity control system uses accelerometers, angular rate gyroscope and GPS to measure data and design Kalman filter to suppress sensor noise , simultaneously estimate state variables which can not be measured. To reduce the modeling error and improve the robustness of the control system , using a model reference sliding mode control theory design velocity controller. Experimental results show that the speed control system has good tracking and stability.
出处
《计算机测量与控制》
2015年第6期1940-1943,共4页
Computer Measurement &Control
关键词
四旋翼无人机
速度控制系统
卡尔曼滤波器
模型参考滑模控制
quad--rotor UAV
velocity control system
Kalman filter
MRSMC （model reference sliding mode control）
