基于自适应增益的三旋翼无人机超螺旋滑模抗扰容错控制

李佳磊,郝伟,王士发,梅童,马文来

Adaptive gain-based super-twisting sliding mode disturbance rejection fault-tolerant control for tri-rotor UAV

Jialei LI,Wei HAO,Shifa WANG,Tong MEI,Wenlai MA

表 1 三旋翼无人机姿态控制误差对比

Tab.1 Comparison of attitude control errors for tri-rotor UAV

姿态 控制器 均值 平均绝对误差 均方差 滚转 STSM 0.0416 0.7416 0.7104 STA 0.0221 0.8698 0.9629 俯仰 STSM −0.0272 0.4043 0.2703 STA 0.2152 1.0173 1.3606 偏航 STSM −0.0057 0.4092 0.2294 STA 0.0262 0.3592 0.2000