Abstract: To deal with the controlling complexity and strong state coupling for six rotorcraft, a attitude and trajectory control strategy based on model reference and sliding mode is proposed. First, on the basis of establishing a simplified kinetic and kinematic model of the six rotorcraft, a reference model with good performance is constructed by linear quadratic regulator(LQR) method, and the integral sliding mode is designed according to the pseudo inverse theory and the state error. Then, the attitude controller and trajectory tracking controller are designed in the presence of interference, and the Lyapunov stability theory is used to analyze and guarantee the stability of the closed-loop system. The simulation results show that the designed control system is superior to the general PID controller, which can achieve the attitude and trajectory control with a satisfied control performance.

Key words: Six rotorcraft, pseudo inverse theory, model reference, sliding mode control

摘要： 针对六旋翼飞行器的控制复杂性和强耦合性问题，提出一种基于模型参考和滑模相结合的姿态与轨迹控制策略。在建立六旋翼飞行器简化动力学和运动学模型的基础上，利用线性二次型调节方法，给出具有良好性能的参考模型，并依据伪逆理论和状态误差设计积分滑模面。随后，设计在干扰存在状态下的姿态控制器和轨迹跟踪控制器，并利用李雅普诺夫稳定性理论分析了闭环系统的稳定性。仿真结果表明，所设计的控制器性能优于一般的PID控制，具备一定的鲁棒性，能够较好的实现姿态和轨迹控制。

关键词: 六旋翼飞行器, 伪逆理论, 模型参考, 滑模控制