Abstract: Aiming at the modeling error and external disturbance uncertainty of four-rotor aircraft attitude model, a nonlinear controller based on adaptive sliding mode is proposed. The parameter adaptive control method is used to approximate the modeling error term in the system, and the sliding mode control method can cancel out the system modeling error and the external uncertain disturbance term. The Lyapunov stability method is used to prove that the designed controller can achieve global asymptotic stability. Then, the validity of the control method proposed in this paper is verified by the real flight test, which can realize the attitude stabilization control of small four-rotor aircraft, and show that anti-disturbance performance is better than traditional PID control.

Key words: Four-rotor aircraft, modeling error, external disturbance, adaptive sliding mode control

摘要： 针对四旋翼飞行器姿态模型建模误差以及外部扰动不确定性的特点，提出了一种基于自适应滑模的非线性控制器。采用参数自适应控制方法逼近系统中的建模误差项，滑模控制方法进一步抵消系统建模误差以及外部不确定扰动项。并采用李雅普诺夫稳定法证明了所设计的控制器能够实现全局渐近稳定。最后，通过四旋翼姿态飞行实验，验证了文中所提出控制方法的有效性，能够实现小型四旋翼姿态的稳定控制，其抗扰性能优于传统PID控制。

关键词: 四旋翼, 建模误差, 外部扰动, 自适应滑模