基于终端滑模的F-16固定翼飞行器有限时间编队控制

Finite-time Formation Control of F-16 Fixed-wing Aircraft Based on Terminal Sliding Mode

以F-16固定翼飞行器为研究对象,采用终端滑模控制方法,实现了六自由度固定翼飞行器的有限时间编队控制。首先,根据奇异摄动理论,将固定翼飞行器十二阶微分运动方程按照响应速度快慢分为外环位置编队控制系统和内环姿态跟踪控制系统。外环应用有限时间稳定性理论和非线性滑模控制方法设计了分布式控制器,实现多固定翼飞行器系统的有限时间编队控制。然后,将外环分布式控制器产生的控制信号转换为内环单架固定翼飞行器的姿态跟踪参考信号,内环应用非线性动态逆(nonlinear dynamic inversion,NDI)控制和增量非线性动态逆(incremental nonlinear dynamic inversion,INDI)控制在可能存在执行器故障的情况下实现单架固定翼飞行器姿态的跟踪控制。最后,通过仿真实例验证了该控制方法的有效性。

The finite time formation control of F-16 fixed-wing aircraft is realized by using terminal sliding mode control.Firstly,according to the singular perturbation theory,the twelve-order differential motion equations of fixed-wing aircraft are divided into the outer loop formation control system and the inner loop attitude tracking control system according to the response speed:the outer loop applies the finite-time stability theory and the terminal sliding mode control method to realize the finite-time formation control of the multi-fixed-wing aircraft system;then the control signal generated by the outer loop distributed controllers are converted into the attitude tracking reference signals of the inner loop;the inner loop applies nonlinear dynamic inverse(NDI)control and incremental nonlinear dynamic inverse(INDI)control to achieve attitude tracking control of the fixed-wing aircraft under the actuator fault.Finally,a simulation example is given to verify the effectiveness of the control method.