固定翼无人机自动着陆的一体化制导控制

Integrated guidance and control design for automatic landing of fixed-wing unmanned aerial vehicle

本文基于制导控制一体化方法的思想,将滑模变结构控制和自抗扰控制技术结合于动态面控制结构中,提出一种固定翼无人机自动着陆方法.在建立六自由度无人机模型、无人机和目标点间的相对视线角度模型的基础上,在动态面控制框架下加入滑模变结构控制来设计制导控制一体化方法.在此过程中加入自抗扰控制技术,提高了系统对未建模部分、参数的不确定性和外界干扰的鲁棒性,并抑制了滑模变结构控制的抖振.该方法使得无人机在平稳地飞向目标点的同时能够满足着陆视线角度的约束.文中详细论述设计思想和设计方法,最后通过仿真验证说明本文方法的有效性.

A novel integrated guidance and control（IGC） approach is proposed for the landing of a fixed-wing unmanned aerial vehicle（UAV）. In this approach, the sliding-mode variable structure control（SMVSC） and the active disturbance rejection control（ADRC） are combined in the structure of the dynamic surface control. A 6-DOF model of the UAV and the model of the relative line of sight（LOS） between the UAV and the target are built. The integrated guidance and control is designed under the dynamic surface control framework with sliding-mode variable structure control. By introducing ADRC technique to the design, we raise the system robustness against the uncertainties in the unmodeled parameters and the external disturbances. The ADRC also suppresses the vibration of sliding-mode variable structure control. This control approach enables the UAV to smoothly fly to the target point, while satisfying the constraints on the landing LOS angle.The design philosophy and modes of thought are described in details. Finally, simulation results are presented to illustrate the effectiveness of the control strategy.