基于滑模方法的无人直升机有限时间悬停控制  

Finite-Time Hovering Control of Unmanned Helicopter Based on Sliding Mode Method

作　　者：张淼 马建伟[1] 高计委 臧绍飞 ZHANG Miao;MA Jianwei;GAO Jiwei;ZANG Shaofei(Henan University of Science and Technology Luoyang,471000,China)

机构地区：[1]河南科技大学,河南洛阳471000

出　　处：《电光与控制》2023年第8期43-49,共7页Electronics Optics & Control

基　　金：国家自然科学基金(62073124);航空科学基金(20200051042003);河南省科技攻关项目(212102210153)。

摘　　要：针对无人直升机的位置和姿态控制中存在不确定和外部干扰的悬停问题,提出一种基于滑模方法的有限时间飞行控制策略。首先,对无人直升机的六自由度模型进行分析,将模型分为位置模型和姿态模型两个部分;其次,在悬停状态下对模型做简化处理,根据位置和姿态之间的特点以及控制要求,分别采用非奇异终端滑模和积分滑模设计位置控制器和姿态控制器,并在Lyapunov理论框架下证明系统误差能在有限时间内收敛至平衡点;最后,通过仿真分析表明该控制策略具有良好的控制性能。A finite-time flight control strategy based on the sliding mode method is proposed for the hovering problem under uncertainty and external disturbance in the attitude and position control of the unmanned helicopters.Firstly the 6 Degrees of Freedom(6-DOF)model of the unmanned helicopter is analyzed and the model is divided into a position model and an attitude model.Secondly the model is simplified in the hovering state and according to the characteristics between position and attitude and the control requirements non-singular terminal sliding mode and integral sliding mode are used to design the position controller and the attitude controller respectively and it is proved that the system error can converge to the equilibrium point in finite time under the framework of Lyapunov theory.Finally the simulation analysis shows that the control strategy has good control performance.

关 键 词：无人直升机 非奇异终端滑模 积分滑模 位置控制 姿态控制 有限时间收敛 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]