前倾转变体无人机固定时间轨迹跟踪控制  

Fixed time trajectory tracking control of forward-tilting morphing aerospace vehicle

作　　者：窦磊 李新凯 张宏立[1] 王昊 杨加秀 DOU Lei;LI Xinkai;ZHANG Hongli;WANG Hao;YANG Jiaxiu(School of Electrical Engineering,Xinjiang University,Urumqi 830017,China)

机构地区：[1]新疆大学电气工程学院,乌鲁木齐830017

出　　处：《北京航空航天大学学报》2025年第3期1005-1017,共13页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(62263030);新疆维吾尔自治区自然科学基金青年项目(2022D01C86)。

摘　　要：针对具有时变扰动的前倾转变体无人机轨迹跟踪控制问题,提出了一种基于浸入与不变(I&I)理论和固定时间收敛理论的非奇异终端滑模控制方案。融合动态尺度因子设计一种基于I&I的时变扰动观测器;构造一种分段式的固定时间非奇异终端滑模面,消除滑模面的奇异性,并使系统状态在固定时间内收敛到平衡点附近小邻域内,且收敛时间的上界与系统的初始状态无关;基于Lyapunov稳定性理论证明系统的全局固定时间稳定性,并给出其收敛时间的上界。在2种实验场景下验证了所提控制方案的有效性和优越性。与传统的控制方法相比,所提控制方案使系统的收敛速度更快,抗扰动能力更好。In view of the trajectory tracking problem of the forward-tilting morphing aerospace vehicle with time-varying disturbance,a non-singular terminal sliding mode control scheme based on immersion and invariance(I&I)theory and fixed time convergence theory was proposed.Firstly,a time-varying disturbance observer based on I&I was designed by combining dynamic scale factors.Secondly,a segmented fixed-time non-singular terminal sliding surface was constructed,which eliminated the singularity of the sliding mode surface and made the system state converge to any small neighborhood of the equilibrium point within a fixed time,and the upper bound of the convergence time had nothing to do with the initial state of the system.Finally,based on the Lyapunov stability theory,the global fixed-time stability of the system was proven,and the upper bound of its convergence time was given.The effectiveness and superiority of the proposed control scheme were verified in two experimental scenarios.Compared with the traditional control method,the control scheme proposed in this paper made the system converge faster and has better anti-disturbance ability.

关 键 词：变体无人机 浸入与不变 动态尺度因子 非奇异终端滑模面 固定时间收敛 

分 类 号：V221.3[航空宇航科学与技术—飞行器设计] TB553[理学—物理]