Robust fixed-time flight controller for a dual-system convertible UAV in the cruise mode  

作　　者：Lulu Chen Zhenbao Liu Qingqing Dang Wen Zhao Wenyu Chen 

机构地区：[1]School of Civil Aviation,Northwestern Polytechnical University,Xi'an 710072,China [2]Shenzhen Research Institute of Northwestern Polytechnical University,Shenzhen 518057,China [3]Air and Missile Defense College,Air Force Engineering University,Xi'an 710051,China

出　　处：《Defence Technology（防务技术）》2024年第9期53-66,共14页Defence Technology

基　　金：supported by National Natural Science Foundation of China (Grant Nos.52072309 and 62303379);Beijing Institute of Spacecraft System Engineering Research Project (Grant NO.JSZL2020203B004);Natural Science Foundation of Shaanxi Province,Chinese (Grant NOs.2023-JC-QN-0003 and 2023-JC-QN-0665);Industry-University-Research Innovation Fund of Ministry of Education for Chinese Universities (Grant NO.2022IT189)。

摘　　要：This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind disturbances.First,a fixed-time disturbance observer(FXDO)based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model.Then,a fixed-time integral sliding mode control(FXISMC)is combined with the FXDO to achieve strong robustness and chattering reduction.Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability.Finally,numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances.In addition,the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results.

关 键 词：Convertible UAV Flight control Disturbance observer Fixed-time control 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1