基于自抗扰终端滑模的高速滑翔飞行器姿态控制

Attitude Control of High Speed Gliding Aircraft Based on ActiveDisturbance Rejection Terminal Sliding Mode

针对高速滑翔飞行器的姿态控制问题,提出一种自抗扰终端滑模控制方法。将飞行器的姿态控制系统分为角度控制回路与角速度控制回路,对两个回路分别设计控制器。使用跟踪微分器安排信号的过渡过程,设计扩张状态观测器,将外界干扰与系统参数的不确定作为系统的新状态进行实时估计,利用估计值在控制律中进行动态补偿。基于终端滑模方法设计非线性控制律,保证系统误差有限时间内收敛。将所提出的算法应用到高速滑翔飞行器姿态控制模型中进行仿真实验,仿真结果证明了算法的有效性与优越性。

For the attitude control problem of high speed gliding aircraft,an active disturbance rejection terminal sliding mode control method is proposed.The attitude control system of the aircraft is divided into two parts,one is the angle control loop and the other is the angular velocity control loop.Controllers are designed for the two loops respectively.The transition process is arranged according to the auto-disturbance rejection control method.Extended states observers are designed to estimate the external disturbance and system parameter uncertainties as a new state of the system in real time.Nonlinear control laws based on the terminal sliding mode control are designed to ensure the convergence of the system errors.The estimated value obtained by observers is used to compensate disturbance dynamically in the control law.The proposed algorithm is applied to the high speed gliding aircraft model for simulation experiments.The simulation results demonstrate the effectiveness and superiority of the proposed algorithm.