一类微型扑翼飞行器的滑模自适应姿态控制

Sliding-Mode Adaptive Attitude Controller Design for Flapping-Wing Micro Air Vehicle

针对微型扑翼飞行器这类非线性时变系统,基于李雅普诺夫稳定性理论提出了滑模自适应控制算法,应对系统中的不确定性和抑制扰动,完成飞行器悬停阶段调整方位的姿态控制.在高频的扑翼状态下,系统模型利用摄动理论中的平均化法进行近似时不变处理.控制器的设计以滑模控制为主体,滑模面利用误差角三角函数和体角速度构造,来避免不必要的偏航控制,同时结合自适应控制方法,实时逼近无法准确计算的惯性张量和干扰力矩,缓解传统滑模控制中开关函数所带来的抖振问题.Simulink仿真结果表明,滑模自适应控制算法优于传统滑模控制,在正弦干扰气流的影响中有良好的鲁棒性,以此验证了算法的可行性.

Taking aim at the nonlinear time-varying system such as Flapping-wing Micro Air Vehicle(FMAV),a sliding-mode adaptive control algorithm based on Lyapunov’s stability theory is proposed to complete the attitude control design of the FMAV.Averaging theory can be applied to high frequency system like FMAV.The design of the controller is based on sliding mode control to suppress the tracking error of the system.In combination with the adaptive control method,the model parameters those can not be accurately calculated are approached to in real time,and the chattering problem caused by the switching function in traditional sliding mode control is alleviated.Simulink simulation results show that the sliding mode adaptive control algorithm is superior to the traditional sliding mode control,and has good robustness in the influence of airflow.