飞翼布局无人机二阶滑模姿态跟踪鲁棒控制
Second Order Sliding Mode Attitude Tracking and Robust Control of Flying-Wing UAV

针对飞翼布局无人机受扰姿态控制问题,提出一种二阶滑模姿态跟踪鲁棒控制方案。基于时标分离特性,将飞翼布局无人机姿态控制系统分为内外回路进行设计。外回路采用自适应二阶终端滑模控制器,利用自适应算法调节切换增益抑制复合干扰对系统性能的影响,同时二阶终端滑模将不连续的符号函数加在控制量的导数上,通过积分得到连续的滑模控制律,从而有效地消除了常规滑模控制器的抖振。内回路采用基于自适应super twisting滑模观测器的积分滑模控制器,设计自适应super twisting滑模观测器以实现对内回路复合干扰的估计和补偿。最后通过控制分配环节将控制力矩分配到舵面上,仿真结果验证了所提方案的有效性。
We propose a second order sliding mode attitude tracking and robust control strategy for the flying-wing unmanned aerial vehicle(UAV) with unknown external interferences.We take into account its timescale separation property and design its attitude control system into outer loop and inner loop.The outer loop uses the adaptive second order sliding mode controller and the adaptive algorithm to adjust the switch gains and suppress the influence of compound interference on the performance of the flying-wing UAV.The second order sliding mode controller adds the discontinuous sign function to the derivative of the control volume and obtains through integration the continuous sliding mode law,thus effectively eliminating the chattering of the conventional sliding mode controller.The inner loop uses the integral sliding mode controller based on the adaptive super twisting sliding mode observer.The adaptive super twisting sliding mode observer is for estimating and compensating for the compound interference of the inner loop.Finally,we use control allocation to allocate control moment to the rudder surface of the control system.The simulation results show preliminarily that our strategy is effective