基于趋近律滑模最优控制的无人机撞网回收轨迹控制

Trajectory Control of a UAV During Net Recovery Based on Sliding Mode Control and Optimal Control

针对舰载无人机撞网回收过程的下滑轨迹跟踪控制问题,在设计基于α-β滤波器的轨迹控制外回路的基础上,着重设计了趋近律滑模控制与最优控制相结合的姿态控制内回路,提高了系统的稳定性并改善了系统的动态性能。以某小型无人机为例进行了撞网回收全过程三维数值仿真,仿真结果表明,该撞网回收着舰轨迹控制系统能够实现下滑过程飞行姿态及轨迹的精确控制,且能够在舰船甲板运动情况下实现较精确的撞网回收。

As to the problem of tracking the glide trajectory of a UAV during net recovery, an inner-loopcontroller combining reaching law based sliding mode control with optimal control was designed on the basisof the outer loop controller with α-β filter. The stability and dynamic performance of the system wereimproved. Taking a small UAV as an example, we made a three-dimensional digital simulation to the wholenet-recovery process. The simulation results show that this controller can realize accurate control of theattitude and trajectory of the UAV during its landing, and realize net-recovery accurately even when the deckis in movement.