动态电子围栏下四旋翼无人机反步滑模飞行控制  

Backstepping Sliding Mode Flight Control of Quadcopter UAVs Under Dynamic Electronic Fence

作　　者：刘小玲 张明 LIU Xiaoling;ZHANG Ming(Guangzhou Urban Planning&Design Survey Research Institute Co.,Ltd.,Guangzhou 510000,China)

机构地区：[1]广州市城市规划勘测设计研究院有限公司,广州510000

出　　处：《计算机测量与控制》2025年第2期119-128,共10页Computer Measurement &Control

摘　　要：为了提高四旋翼无人机飞行姿态的控制效果,确保无人机在特定区域内执行高稳定性飞行任务,针对动态电子围栏下,四旋翼无人机反步滑模飞行控制方法展开研究;利用GIS动态电子围栏技术精确界定无人机的飞行区域边界,采用滑模控制器,对四旋翼无人机飞行姿态与状态的精准调控;引入四阶贝塞尔曲线对预设飞行轨迹进行精细化平滑处理,在控制策略的设计上,严格遵循热流率、过载、动压及平衡滑翔等四大关键约束条件,构建了满足控制约束条件的控制律,生成飞行区域控制指令,指导无人机按照既定的飞行区域控制逻辑进行高效、稳定的飞行;通过实验证明:在日、夜两种实验场景下,研究方法对四旋翼无人机飞行进行控制的无人机出界系数较低,飞行稳定系数较高,说明研究方法的控制效果较好,具有较好的实际应用效果。In order to improve the control effectiveness of quadcopter unmanned aerial vehicle(UAV)flight attitude and ensure their high stability flight missions in specific areas,a backstepping sliding mode flight control method of quadcopter UAV under dynamic electronic fence is studied.Using GIS dynamic electronic fence technology to accurately define the boundary of UAV flight area,and using sliding mode controller to accurately control the flight attitude and state of quadcopter UAV.The fourth-order Bezier curve is introduced to refine and smooth the preset flight trajectory.In the design of control strategy,the four key constraints,such as heat flow rate,overload,dynamic pressure and balanced glide,are strictly followed.The control law that meets the control constraints is constructed,and the flight area control command is generated to guide the UAV to efficiently and stably fly according to the predetermined flight area control logic.Experimental results show that in the day and night experimental scenarios,the method is used to control the flight of quadcopter UAV,it has a low boundary coefficient and a high flight stability coefficient,indicating that the method has good control and practical application effects.

关 键 词：动态电子围栏 反步滑模 四旋翼无人机 飞行区域 飞行控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]