固定翼无人机轨迹跟踪的滑模变结构控制

Sliding Mode Variable Structure Control of Fixed-wing UAV

固定翼无人机是一个典型的欠驱动、强耦合、多输入多输出(MIMO)的非线性系统。首先,给出无人机系统在受到参数不确定和阵风干扰等情况下的动力学模型;其次,使用滑模变结构控制(SMVSC)方法求解出四个控制输入信号,以实现无人机的期望轨迹跟踪。整个系统采用双回路结构,第一个回路求解出升降舵和发动机控制输入信号,第二个回路求解出副翼和方向舵控制输入信号;对比比例积分微分(PID)控制方法发现,相较于需要整定控制参数的PID算法,使用滑模变结构控制(SMVSC)方法的飞行器所需的控制参数可以在设计滑模面时给出。仿真结果表明,使用该方法的飞行器对外界较强阵风干扰和模型参数不确定具有较强的鲁棒性,并能精确地完成轨迹跟踪任务。

Fixed-wing UAV is a nonlinear systems with underactuation, strong coupling, multi-input MO）. Firstly, the system dynamics model is affected by the uncertain parameters and the external strong gust inte Then, the sliding mode variable structure control （SMVSC） method is used to work out the four control input signal, the uav＇s expected trajectory tracking. The double loop structure is used in the whole system, and the first loop is use out the control input signal of elevator and engine, then the second loop is used to work out the control input signal and rudder. Compared with PID control method,the surface. The simulation results show that the aircraft SMVSC method can give control parameter in the with SMVSC method has certain robustness to the rference realizing d to work of aileron design of sliding mode external wind disturb-ance and uncertain parameters, and can accurately complete the tracking task.