高海况下基于改进L1制导律的无人机轨迹跟踪控制  

Trajectory Tracking Control of UAV Based on Improved L1 Guidance Law Under High Sea Conditions

作　　者：梁文鑫 宋世旺 郑宇 马梓元 王新华[1] LIANG Wenxin;SONG Shiwang;ZHENG Yu;MA Ziyuan;WANG Xinhua(Nanjing University of Aeronautics and Astronautics,Nanjing Jiangsu 210016,China;Navigation and Control Technology Research Institute of China North Industries Group Corporation Limited,Beijing 100089,China)

机构地区：[1]南京航空航天大学,江苏南京210016 [2]中国兵器工业导航与控制技术研究所,北京100089

出　　处：《海军航空大学学报》2025年第2期360-372,共13页Journal of Naval Aviation University

基　　金：省部级“十四五”预先研究项目(3020670201);上海航天科技创新基金(SAST2023-012)。

摘　　要：针对无人机在高海况下降落时容易受到强风干扰的问题,提出了一种基于改进L1制导律的无人机轨迹跟踪控制器。首先,该控制器采用积分滑模与自抗扰结合的控制方法,提高了高海况下姿态响应的抗扰性和鲁棒性;然后,提出了基于改进L1制导侓和自适应双幂次滑模趋近律的轨迹跟踪控制器,针对传统L1算法阻尼固定的缺陷进行了控制律优化,通过引入积分项来消除横侧向稳态误差,提高了无人机横侧向控制精度和抗扰能力,并采用基于自适应双幂次滑模趋近律的高度控制方法,改进原有双幂次趋近律并结合自适应项减小了稳态误差和滑模面附近的抖震现象,进一步提高了无人机对强风的抗扰能力;最后,搭建了无人机自主降落半物理仿真平台进行仿真实验。实验结果表明:提出的控制器可实现无人机在大风环境下对侧偏距和高度的快速跟踪,有效提高了系统的抗扰性能,从而提升了无人机的在海风扰动下,海上降落的可靠性和安全性。Aiming at the problem that UAVs are susceptible to strong wind interference when landing in high sea conditions,UAVs trajectory tracking controller based on improved L1 guidance law is proposed.Firstly,the controller adopts the control method of integrating sliding mode and active disturbance rejection to improve the immunity and robustness of attitude response under high sea conditions.Then,a trajectory tracking controller based on improved L1 guidance and adaptive double-power sliding mode reaching law is proposed.The control law is optimized for the fixed damping defects of the traditional L1 algorithm.By introducing an integral term to eliminate the lateral steady-state errors,the lateral control accuracy and disturbance immunity of the UAV are improved.By improving the original double power reaching law and combining with the adaptive term,the steady-state error and the buffeting phenomenon near the sliding mode surface are reduced,and the anti-disturbance ability of the UAV to strong winds is further improved.Finally,a semi-physical simulation platform for unmanned aerial vehicle autonomous landing is built for simulation experiments.The experimental results show that the proposed controller can realize the fast tracking of the lateral deviation and height of the UAV in a strong wind environment,effectively improve the anti-interference performance of the system,and thus improve the reliability and safety of the UAV landing at sea under wind disturbance.

关 键 词：无人机 飞行控制 L1制导律 自适应双幂次滑模 半物理仿真 

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