基于差分进化算法的四旋翼无人机积分滑模控制软着陆OA

To address the issue of excessive ground impact during flight trajectory tracking and landing of quadrotor UAVs,an integral sliding mode control method based on sliding mode parameter switching is proposed.Firstly,the dynamic model of the quadrotor is constructed and decoupled,and the control law is designed based on the integral sliding mode control principle.Then,a differential evolution algorithm is employed to optimize the sliding mode control parameters,with the absolute integral error of the quadrotor's position as the optimization objective.Lastly,impulse is introduced as an evaluation metric for experimental comparison to evaluate soft landing performance.The experimental results show that the impulses during soft landing for the integral sliding mode control method,linear sliding mode control method,and PID control method are 0.0053 kg·m·s-1,0.0182 kg·m·s-1 and 0.0777 kg·m·s-1,respectively.The proposed integral sliding mode control method outperforms traditional PID and SMC control methods in terms of dynamic response speed,overshoot control,steady-state error,trajectory tracking error,and landing impact,demonstrating higher control accuracy and significant steady-state performance.