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论文类型：期刊论文

发表时间：2017-09-01

发表刊物：ASIAN JOURNAL OF CONTROL

收录刊物：Scopus、SCIE、EI

卷号：19

期号：5

页面范围：1812-1821

ISSN号：1561-8625

关键字：Attitude control; Adaptive compensation; Sliding mode control; Finite-time convergence

摘要：This paper investigates the attitude control problem of a quad-rotor unmanned helicopter. In response to adverse factors, including the lumped disturbance, inertia parameter uncertainties, and the partial loss of rotation effectiveness, an adaptive compensation control strategy combining the terminal sliding mode technique and the input shaping method is proposed. Specifically, a group of updating laws using an adaptive mechanism is added to adjust the control strategy in a manner conductive to attitude stability and performance preservation in the presence of adverse factors. The key features of the proposed control strategy are that it is independent from the knowledge of actuator faults, and adaptive compensation control is achieved without the need for online identification of rotor failure. The finite time convergence and stability of the attitude tracking errors are proved by using Lyaponov's method. Finally, the simulation results demonstrate the effectiveness of the proposed control strategy.