应用于四旋翼无人机角速度估计的几何滑模观测器设计

对四旋翼无人机的角速度进行估计时，传统的基于单位四元数的滑模观测器需要引入强制比例重调，因而影响了跟踪精度。本文提出一种基于数值积分的李群方法的滑模观测器设计框架。该算法基于等变映射思想，在齐性流形空间的等价李代数空间中设计滑模反馈，从而避免了直接在流形空间中设计反馈的复杂性，并消除了传统方法在每个积分步骤中强制加入的比例重调，提高了观测器的跟踪性能。仿真结果表明，几何滑模观测器算法可以有效的对四旋翼无人机的角速度进行估计。

Geometric Sliding Mode Observer Design with Application to Angular Velocity Estimation of Quadrotor UAV

Traditional quaternion-based sliding mode observer for angular velocity estimating must introduce the process of mandatory rescaling which reduce the tracking performance of the observer algorithm. In this work, a sliding mode observer design framework is proposed based on the Lie group method of numerical integration on manifolds for angular velocity estimation of quadrotor attitude. The algorithm constructs sliding mode feedback in the space of equivalent Lie algebra of homogeneous manifolds on the basis of equivariant mapping ideological. It avoids the complexity of constructing sliding mode feedback in homogeneous space directly, and eliminates the process of mandatory rescaling which the traditional methods need in each integration step. The simulation results show that the algorithm of geometric sliding mode observer is effective.