基于Super-Twisting滑模S面的无人机路径跟踪控制

Path Tracking Control of UAV Based on Super Twisting Sliding Mode S-Plane

针对小型固定翼无人机在执行任务时跟踪精度低以及容易受外界风影响的问题,设计基于Super-Twisting滑模S面(STSM S-Plane)的路径跟踪控制器,同时采用内外双环控制模式。外环即速度环采用Super-Twisting滑模控制,内环即姿态环采用S面控制。考虑到S面控制求导易导致积分爆炸的问题引入了二阶微分器,并对外界风组成进行建模研究。最后通过空间特殊曲线来验证所设计算法的控制性能。仿真结果表明,所设计的算法可以实现固定翼无人机对期望路径的精确跟踪,并具有良好的鲁棒性和抗干扰性能。

Aiming at the problems of low tracking accuracy and easy to be affected by external wind when small fixed wing UAV performs tasks,a path tracking controller based on the Super Twisting Sliding Mode S-Plane(STSMS-Plane)is designed,and the internal and external double loop control mode is adopted.The outer loop,namely the speed loop,adopts super twisting sliding mode control,and the inner loop,namely the attitude loop,adopts s-plane control.Considering that the der-ivation of S-plane control is easy to lead to integral explosion,the second-order differentiator is introduced,and the composition of the external wind is modeled and studied.The control performance of the designed algorithm is verified by spatial special curve.The simulation results show that the designed algorithm can achieve accurate tracking of the desired path of fixed wing UAV,and has good robustness and anti-interference performance.