倾转旋翼eVTOL的快速非奇异终端滑模轨迹跟踪控制

Fast non-singular terminal sliding mode trajectory tracking control for tilt-rotor eVTOL

中文关键词  倾转旋翼eVTOL  终端滑模控制  快速趋近律  轨迹跟踪  扰动观测器

英文关键词  Tilt-rotor electric vertical take-off and landing vehicle(eVTOL)  Terminal Sliding Mode Control  Fast Reaching Law  Trajectory Tracking  Disturbance Observer

中文摘要

      针对倾转旋翼电动垂直起降飞行器(eVTOL)非线性、多变量、强耦合以及多源干扰的动力特性,本文提出 了基于快速趋近律的快速非奇异终端滑模控制算法.首先,基于建立的六自由度非线性模型,将实际的控制量转化 为六自由度控制通道的虚拟控制变量,从而,通过虚拟控制变量实现飞行控制解耦;其次,构建了快速非奇异终端滑 模面,设计控制器中的等效控制部分,实现系统状态跟踪误差在有限时间内快速收敛,并基于fal非线性函数设计了 一种新型连续趋近律以进一步减小抖振;然后,针对系统可能受的干扰设计了指数收敛型扰动观测器进行补偿;最 后, 通过仿真结果表明,所提出的控制算法在面对复杂干扰时表现出优越的轨迹跟踪和抗干扰能力.

英文摘要

      Aiming at the nonlinear, multivariable, strongly coupled and multi-source interference dynamics character istics of tilt-rotor electric vertical take-off and landing vehicle (eVTOL), this paper proposes a fast terminal sliding mode control algorithm based on fast convergence law. Firstly, based on the established six-degree-of-freedom nonlinear model, the actual control quantities are transformed into pseudo-control variables for each control channel, and the flight control is decoupled through the pseudo-control variables. Secondly, the fast terminal sliding mode surface is constructed, the equivalent control part in the controller is designed to achieve the fast convergence of the system state tracking error in a finite period of time, and a new type of successive convergence law is designed based on the fal nonlinear function to further reduce the chatter. Then an exponentially convergent disturbance observer is designed to compensate for the pos sible disturbances of the system. Finally, the simulation results show that the proposed control algorithm shows superior trajectory tracking and anti-disturbance capabilities in the face of complex disturbances.