飞艇森林巡防轨迹跟踪的滑模控制  

Sliding Mode Control of Airship Trajectory Tracking on Forest Patrol

作　　者：宋文龙[1] 张金阳[1] 贾鹤鸣[1] 

机构地区：[1]东北林业大学机电工程学院,哈尔滨150040

出　　处：《吉林大学学报（信息科学版）》2014年第2期158-165,共8页Journal of Jilin University（Information Science Edition）

基　　金：中央高校基本科研业务费专项基金资助项目(DL13BB14);国家自然科学基金资助项目(31270757);新世纪优秀人才支持计划基金资助项目(NCET-09-0279);高等学校博士学科点基金资助项目(20110062110002)

摘　　要：为实现无人飞艇在森林巡防时的轨迹跟踪控制,针对飞艇飞行运动的非线性、耦合等特点,提出一种滑模控制方法。基于牛顿第二定律等定理推导飞艇巡防飞行的精确数学模型,并通过选取状态向量和控制向量,将其数学模型描述为非线性控制系统。通过泰勒级数展开将非线性系统简化为线性系统,并设计滑模控制律,同时采用饱和函数的方法抑制了滑模控制中的抖振问题。基于Lyapunov稳定性理论证明了所设计控制系统的稳定性。仿真结果表明,该方法的轨迹跟踪效果较为理想,可实现无人飞艇对期望轨迹的精确跟踪。To achieve unmanned airship trajectory tracking control when patrol in the forest and the airship flight movement is nonlinear,coupling,etc.,a sliding mode control method is proposed.First,the accurate mathematical model of airship is deduced based on Newton＇s second law and other theorem,and by selecting the state vector and control vector,its mathematical model can be described as the nonlinear control systems.Nolinear system is simplified to linear system by Taylor series expansion,and the sliding mode control law is designed,while using saturation function suppressed chattering problem of sliding mode control.Finally,the designed control system stability is proved by Lyapunov stability theory.As can be seen from the simulation curves,the effect of trajectory tracking is more ideal,it can achieve the unmanned airship desired trajectory for accurate tracking.

关 键 词：森林巡防 无人飞艇 轨迹跟踪 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]