基于自适应反步滑模控制的无人机滚转控制  

Roll control of UAV based on an adaptive backstepping sliding mode control

作　　者：李威[1] 田春宝 LI Wei;TIAN Chun-bao(College of Aerospace Engineering,Shenyang Aerospace University,Shenyang 110136,China)

机构地区：[1]沈阳航空航天大学航空宇航学院,沈阳110136

出　　处：《沈阳航空航天大学学报》2022年第3期33-39,共7页Journal of Shenyang Aerospace University

基　　金：辽宁省科学技术计划项目(项目编号:2013024005);沈阳市科技计划项目(项目编号:F13-316-1-58)。

摘　　要：为实现固定翼无人机飞行姿态的稳定控制,使用MATLAB/Simulink软件对无人机的滚转通道进行控制仿真。由于经典PID控制的种种缺陷,将现代控制理论中的反步控制理论、滑模控制理论、鲁棒控制理论和自适应控制理论进行了有机的结合,并针对固定翼无人机稳定控制的需求设计了一系列控制器。基于反步理论设计的反步滑模控制器虽然控制效果良好,但是带来了控制输入抖振的问题。为解决抖振问题进一步设计了鲁棒反步滑模控制器、自适应反步滑模控制器,仿真结果显示自适应反步滑模控制器的控制效果最佳。In order to stably control flight attitude of a fixed-wing UAV,roll channel of the UAV was simulated by MATLAB/Simulink.Due to various shortcomings of classical PID control,based on backstepping theory,sliding mode control theory,robust control theory and adaptive control theory from modern control theory,a series of controllers were designed to meet needs of fixed-wing UAV stability control.Although the backstepping sliding mode controller from the backstepping theory had a good control,it brought a problem about control input chattering.In order to solve the problem,a robust backstepping sliding mode controller and an adaptive backstepping sliding mode controller were further designed.The simulation results show that the adaptive backstepping sliding mode controller had the best control compared to the other controllers.

关 键 词：SIMULINK 反步控制 滑模控制 鲁棒控制 自适应控制 飞行控制仿真 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]