%0 Journal Article
%T 基于滑模变结构的欠驱动浮空器轨迹跟踪控制
%A 周华
%A 陈丽
%A 段登平
%J 浙江大学学报(工学版)
%D 2017
%R 10.3785/j.issn.1008-973X.2017.07.020
%X 为了解决无尾双螺旋桨欠驱动浮空器的轨迹跟踪控制问题，考虑执行机构饱和、内部不确定和外界风扰等因素，设计自适应滑模变结构控制器.建立浮空器的三自由度运动模型，设计内、外环控制回路.外环回路安排目标信号的过渡过程，提取微分信号，设计虚拟轨迹.以虚拟轨迹为目标值，设计内环控制回路，分别设计前飞速度误差的一阶滑模面和横向速度误差的二阶滑模面，得到浮空器所需的推力和力矩.为了提高系统抑制扰动的能力及减少执行机构的抖动，采用自适应滑模变结构控制实现对扰动上界的估计并补偿扰动.以上海交通大学设计的浮空器为模型进行仿真，证明了该控制方法的有效性和鲁棒性.</br>Abstract: An adaptive sliding mode control method was presented for the trajectory tracking problem of the fin-less underactuated aerostat driven by two propellers considering the actuators saturation, the unknown parts of the system and wind disturbance. A three-degree-of-freedom dynamic model of the aerostat was constructed. Then the inner and outer loop control laws were designed. The outer loop was used for arranging the transient dynamics of the trajectory and setting the differential signal. A virtual trajectory was designed and acted as the target signal. The control law presented in the inner loop was developed by introducing a first-order sliding surface in terms of forward speed tracking errors and a second-order sliding surface in terms of lateral motion tracking errors. The thrust and moment of aerostat can be calculated. An adaptive sliding mode controller was developed to estimate and compensate the upper layer of disturbance in order to reduce the chattering of actuators and increase the ability to resistance disturbance. The effectiveness and robustness of the control method were demonstrated by computer simulation with the aerostat designed by Shanghai Jiaotong University.
%U http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2017.07.020