基于terminal滑模与控制分配的飞翼布局无人机姿态控制

Attitude Control of Flying Wing UAV Based on Terminal Sliding Mode and Control Allocation

对于风场扰动中的飞翼布局无人机,需要考虑模型参数不确定和外界干扰对姿态控制的影响,以及解决操纵面冗余、附加力效应显著、多轴操纵耦合、舵效非线性等特殊问题。采用基于扩张状态观测器的terminal滑模和多目标非线性控制分配对姿态角的跟踪控制问题进行了研究,将扩张状态观测器与基于饱和函数的terminal滑模控制器相结合,在名义滑模控制律的基础上采用扩张状态观测器实现对干扰的估计和补偿,有效提高了系统的鲁棒性和控制精度,并且充分利用冗余操纵面,根据飞行任务需求,实现对多种目标综合权衡的非线性控制分配。

To control the attitude of a flying wing unmanned aerial vehicle （ UAV） in its disturbance wind field, it is necessary to take into account its model parameter uncertainty and external disturbance and to solve the redun-dancy, strong additional force effect, multi-axis coupling control and nonlinear control efficient of a control surface. We study its attitude tracking with the terminal sliding mode base on the extended state observer and with the mul-tiobjective nonlinear control allocation. Based on the nominal sliding mode control law, we estimate and compensate for the disturbance with extended state observer, thus effectively enhancing the robustness and control precision of flying wing UAV. The attitude control system can make full use of the redundant control surface to realize the inte-grated tradeoff control allocation of multiple targets under various flight conditions and missions.