基于增益自适应超螺旋滑模理论的无人机控制  

Control of Unmanned Aerial Vehicle Based on Gain Adaptive Super-Twisting Sliding Mode Theory

作　　者：周齐贤 王寅 孙学安 ZHOU Qixian;WANG Yin;SUN Xuean(College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学航天学院,南京211106

出　　处：《上海交通大学学报》2022年第11期1453-1460,共8页Journal of Shanghai Jiaotong University

基　　金：航空科学基金(20175152038)资助项目。

摘　　要：以无人机为研究对象,针对无人机系统非线性强和飞行过程中外界干扰产生的不确定性,设计一种基于增益自适应滑模控制的无人机姿态控制器.该方法无需观测器对不确定性进行估计就可以实现对给定无人机姿态的跟踪控制,同时滑模控制中的抖振情况可以得到有效抑制.首先介绍无人机模型,给出其数学模型;其次,以误差为状态量,设计稳定收敛的滑模面,采用增益自适应超螺旋滑模算法设计能够有限时间收敛的无人机姿态控制器;再采用Lyapunov第二法证明闭环无人机系统的稳定性;最后对所提控制方法进行仿真验证.结果表明:该控制方法具有可靠的控制性能.In this paper, a nonlinear control method is proposed based on the framework of gain adaptive sliding mode control to deal with the attitude control problem of an unmanned aerial vehicle(UAV), which shows a strong robustness with respect to dynamical uncertainties and external disturbance. In the proposed method, an adaptive gain schedule scheme is proposed to deal with dynamical uncertainties while suppressing the chattering in the sliding mode control. First, the UAV model is introduced and its mathematical model is given. Then, the error is used as the state variable to design a stably converging sliding mode surface, and the gain adaptive super-twisting sliding mode(ASTSM) algorithm is used to design a UAV attitude controller that can converge in finite time, and the stability of the closed-loop UAV system is demonstrated by the Lyapunov’s second method. Finally, the efficiency of the proposed method is demonstrated through comparative simulations.

关 键 词：无人机 有限时间收敛 增益自适应超螺旋滑模 

分 类 号：V249.122[航空宇航科学与技术—飞行器设计]