基于超扭曲算法的无人机动态逆编队控制器设计  

NDI formation controller design for UAV based on super twisting algorithm

作　　者：杨婧[1] 史小平[1] 

机构地区：[1]哈尔滨工业大学控制与仿真中心,黑龙江哈尔滨150080

出　　处：《系统工程与电子技术》2014年第7期1380-1385,共6页Systems Engineering and Electronics

摘　　要：针对扰动条件下的无人机编队飞行控制系统,研究了一种将非线性动态逆(nonlinear dynamic inversion,NDI)理论与超扭曲算法相结合的非线性编队控制方法。以其中一架僚机的编队控制器设计为例,在无人机质心动力学和运动学模型的基础上,建立了基于偏差的编队控制系统,从而将编队控制问题转化为僚机的路径跟踪问题;在二阶滑模控制中超扭曲算法的基础上,设计了僚机的NDI控编队控制器,以消除滑模算法中存在的抖振现象,并实现对位置指令的跟踪及干扰的抑制。最后以3架编队无人机构成的编队飞行控制系统为例,对此方法进行了数学仿真,仿真结果表明基于该方法的编队控制系统具有良好的稳定性和鲁棒性。A nonlinear formation controller design combined with nonlinear dynamic inversion（NDI）theory and super twisting algorithm is proposed for the unmanned aerial vehicle（UAV）formation flight control system under external disturbance.The deviation based formation control system is established under the dynamics and kinematics models of formation UAVs,which converts the original formation control problem to the equivalent path tracking problem of one follower UAV;in order to overcome the system chattering phenomenon of the normal sliding mode control,and realize the tracking command with disturbance attenuation,the nonlinear dynamic inversion formation controller is designed based on the super twisting algorithm of second-order sliding mode control.The simulation results on the formation flight control system consisting of three UAVs demonstrate that the system designed with the method has good stability and robustness.

关 键 词：二阶滑模控制 超扭曲算法 非线性动态逆 无人机 编队控制 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]