基于滑模观测器的飞翼无人机输出反馈控制  

Sliding Mode Observer Based Output Feedback Controller Design of Flying Wing UAV

作　　者：顾子箫 赵振华[1] 闻子侠 曹东[1] Gu Zixiao;Zhao Zhenhua;Wen Zixia;Cao Dong(Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;AVIC Xi’an Flight Automatic Control Research Institute,Xi’an 710061,China)

机构地区：[1]南京航空航天大学,江苏南京211106 [2]航空工业西安飞行自动控制研究所,陕西西安710061

出　　处：《航空科学技术》2023年第12期75-82,共8页Aeronautical Science & Technology

基　　金：航空科学基金(20200058052002);国家自然科学基金(61903192);江苏省优秀青年基金(BK20230091)。

摘　　要：飞翼无人机因其特殊气动布局而具有机动能力强、隐身性能好等优势,但特殊布局和复杂飞行环境也给控制系统设计带来通道耦合及多源干扰影响问题,飞翼无人机抗扰控制已成为制约其发展的关键问题。本文研究了多源干扰影响下的飞翼无人机纵向指令跟踪控制问题。首先,将高度和速度跟踪控制问题转化为跟踪误差的镇定问题;其次,将高度和速度通道之间的耦合及多源干扰影响视作集总干扰,然后引入高阶滑模观测器(HSMO)技术估计跟踪误差的动态和集总干扰;最后,基于高阶滑模观测器的估计信息构造了复合非线性动态逆输出反馈控制器。仿真结果表明,本文所提方案显著提升了飞翼无人机指令跟踪精度和抗干扰性能。本文研究将促进飞翼无人机抗干扰能力的提升,从而促进飞翼无人机技术的进步。Flying wing UAVs has strong maneuverability and better stealth performances due to their special aerodynamic configurations.Nevertheless,the special aerodynamic configuration and complex flight environment bring the control system design with channel coupling and multi-source disturbance problems.Therefore,the flying wing UAV anti-disturbance control has become the key issue of its development limit.This paper investigates the command tracking control problem of the longitudinal dynamics in flying wing UAV with multi-source disturbances.Firstly,the command tracking problem in altitude and velocity channel is transformed into the stabilization of tracking errors.Secondly,the couplings between the altitude and velocity channels and the influences of multi-source disturbances are regarded as lumped disturbances,and then the High-order Sliding Mode Observer(HSMO)technique is introduced to estimate them.Finally,a composite nonlinear dynamic inverse output feedback controller is constructed based on the estimation information of HSMO.Simulation results validate that the proposed method not only guarantees high-precision tracking of the altitude and velocity commands,but also achieves good disturbance rejection performance.

关 键 词：飞翼无人机 高阶滑模观测器 主动抗干扰控制 输出反馈控制 

分 类 号：V24[航空宇航科学与技术—飞行器设计]