基于滑模干扰观测器的无人机编队动态面控制  

Dynamic surface control of UAV formation based on sliding mode disturbance observer

作　　者：赵红超 赵建忠 ZHAO Hongchao;ZHAO Jianzhong(Department of Electrical and Electronic Engineering,Yantai Nanshan University,Yantai 265713,China;Coastal Defense College,Naval Aeronautical University,Y antai 264001,China)

机构地区：[1]烟台南山学院电气与电子工程系,山东烟台265713 [2]海军航空大学岸防兵学院,山东烟台264001

出　　处：《飞行力学》2021年第4期45-51,共7页Flight Dynamics

基　　金：国家自然科学基金资助(61174031)。

摘　　要：针对采用虚拟结构法无人机编队中的不确定性问题,提出了一种基于滑模干扰观测器的编队控制器设计方案。采用滑模干扰观测器对汇总不确定项进行估计和补偿。在此基础上,采用动态面控制(DSC)算法设计了每架无人机的三个通道的编队控制器,克服了反演控制算法的"微分膨胀"影响。利用Lyapunov稳定性理论分析了控制参数的选取条件,保证了闭环系统是半全局一致最终有界的,且编队跟踪误差最终足够小。以5架小型无人机构成编队为例开展了编队飞行仿真分析。仿真结果表明,基于滑模干扰观测器的动态面控制算法保证了编队控制系统的控制精度和鲁棒性,有效地克服了不确定项的影响。In order to solve the uncertainty problem of unmanned aerial vehicle(UAV) formation adopting the virtual structure method, a design scheme of formation controller based on the sliding mode disturbance observer was proposed. The sliding mode disturbance observer was adopted to estimate and compensate the lumped uncertain term. On the basis of it, the dynamic surface control(DSC) algorithm was adopted to design the formation controllers of three channels of every UAV, and it overcame the "differential explosion" effect of back-stepping control algorithm. The choosing conditions of control parameters were analyzed by the Lyapunov stability theory, which ensured that the closed-loop system was semi-globally uniformly ultimately bounded, and the formation tracking errors were enough small ultimately. The formation flight simulation was performed and analyzed by taking a formation consisting of 5 UAVs as an example. The simulation results show that the DSC algorithm with sliding mode disturbance observer guarantees the control precision and robustness of the formation control system, and overcomes effectively the effect of uncertain terms.

关 键 词：无人机编队 动态面控制 滑模干扰观测器 不确定项 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1