重装空投过程的自适应函数近似反步滑模控制

A Heavy-Weight Airdrop Flight Controller Design by Using Back-Stepping Sliding Mode with Adaptive Function Approximation

针对重装空投过程的飞机运动系统,考虑气动数据的测量和计算误差等不确定性,提出了带有自适应函数近似的反步滑模控制方法。首先将系统的复杂非线性不确定性分解为不确定参数向量和已知非线性矩阵,降低了控制器的设计难度,在此基础上,设计自适应算法近似不确定参数向量,并将自适应结果补偿到反步滑模控制器中,解决了滑模切换增益的选取依赖于系统不确定性边界的问题。理论分析表明,该方法能够保证飞机速度和俯仰角的跟踪误差收敛到平衡点任意小的一个邻域内。

In this paper,a back-stepping sliding mode flight controller with adaptive function approximation for heavy-weight airdrop operations is proposed in consideration of aerodynamic uncertainty.The complex nonlinear uncertainty is first factorized into a known matrix and an uncertainty parameter vector,and the difficulties of the controller design are reduced.On this basis,an adaptive law is designed to estimate the uncertainty parameter vector,and the problem of the switching gains of the sliding mode controller selected according to the bounds of the uncertainty is solved.Lyapunov based analysis indicates that the proposed method can ensure the air speed and pitch angle of the aircraft converge to an arbitrary small area.