固定翼UAV路径跟踪的全局稳定积分滑模S面控制

Path Tracking Controller of Fixed-Wing UAVs Based on Globally Stable Integral Sliding Mode S-Plane Model

针对固定翼无人机的三维路径跟踪控制问题,设计了一种基于全局稳定积分滑模S面模型的内外环控制器。控制器外环采用全局稳定积分滑模控制,内环采用S面控制。设计控制器外环的全局稳定积分滑模控制律,并采用Lyapunov理论证明所设计控制律的稳定性。对内环的指令信号设计S面控制器,考虑到S面控制器中求导的复杂性,引入二阶微分器,解决内环中导数存在积分爆炸的问题。半物理仿真试验结果表明,提出的控制器能精确跟踪期望路径,具有良好的控制性能和抗干扰性能。

For the three-dimensional path tracking control problem of fixed-wing unmanned aerial vehicles,an inner and outer loop controller based on globally stable integral sliding mode S-plane model is proposed in this paper.The outer loop is controlled by the globally stable integral sliding mode,and the inner loop is controlled by the S-plane.Firstly,the globally stable integral sliding control law is designed for the outer loop,and the stability of the control law is proved using the Lyapunov theory.Then the S-plane controller is designed for the instruction signal of the inner loop.Due to the complexity of derivation in the S-plane controller,a second-order differentiator is introduced.The simulation results show that the proposed controller can track the ideal path accurately,which has good control performance and anti-interference performance.