飞翼布局无人机分数阶积分滑模姿态控制

Attitude control for flying wing unmanned aerial vehicles based on fractional order integral sliding-mode

中文关键词  无人机  分数阶积分  滑模控制  双幂次趋近律  super twisting  干扰观测器  控制分配

英文关键词  UAV  fractional order integral  sliding-mode control  dual power reaching law  super twisting  disturbance observer  control allocation

中文摘要

      针对存在复合干扰的飞翼布局无人机(UAV)姿态控制问题, 提出了一种基于分数阶积分滑模与双幂次趋近 律的姿态跟踪控制方案. 结合分数阶微积分及滑模变结构控制理论, 设计了分数阶积分滑模面. 为解决传统趋近律 收敛时间长和抖振严重等不足, 提出一种具有二阶滑模特性且有限时间收敛的双幂次趋近律. 在名义控制律的基础 上, 设计super twisting滑模干扰观测器, 实现对复合干扰的估计和补偿, 增强内外环控制器应对复合干扰的鲁棒性. 为充分利用冗余操纵面与解决非线性舵效问题, 在飞行控制系统中引入了非线性控制分配环节. 仿真结果验证了 所提方案的有效性.

英文摘要

      For the attitude control of flying wing unmanned aerial vehicles (UAV) with unknown external disturbances, an attitude tracking control scheme based on fractional order integral sliding mode and dual power reaching law is proposed. Combining fractional order calculus with sliding-mode variable structure control theory, we design a fractional order integral sliding surface. To tackle the problems of long convergence time and serious buffeting of traditional reaching law, we propose a dual power reaching law with second order sliding-mode properties and finite time convergence. Together with the nominal sliding-mode control law, a super twisting sliding-mode disturbance observer is designed to estimate and compensate for disturbances, which improve both the robustness and control performance of the control system. To take full advantage of the redundant control surfaces and improve the nonlinear control efficiency, the nonlinear control allocation is applied in the flight control system. Simulation results show the effectiveness of the proposed control scheme.