CAJ | 학술논문

四旋翼无人飞行器具有非线性、多变量、强耦合和不确定性等特点，通过以四旋翼无人飞行器为被控对象，建立了存在参数不确定性和未知干扰的飞行器姿态的动力学模型。利用跟踪误差状态设置滑模面，构造了包含滑模面和未知参数的李雅普诺夫函数，并设计了控制律。对设计的控制律进行仿真，结果表明了该方法的有效性。
사선익무인비행기구유비선성、다변량、강우합화불학정성등특점，통과이사선익무인비행기위피공대상，건립료존재삼수불학정성화미지간우적비행기자태적동역학모형。이용근종오차상태설치활모면，구조료포함활모면화미지삼수적리아보낙부함수，병설계료공제률。대설계적공제률진행방진，결과표명료해방법적유효성。
Unmanned acrial vehicle of four rotor is a multi-variable and strong coupling system which has nonlin-ear and uncertainty. According to the unmanned acrial vehicle of four rotor, a dynamic model of UAV's attitude which included uncertainty parameters and unknown disturbances was established. The track error state was used to design a slide mode surface, and built a Lyapunov function which included slide mode surface and un-known parameter. Further more, control rule was designed. At last, the designed control rule was simulated, and the results justified the feasibility of the proposed control rule.