基于奇异摄动分解的固定翼无人机抗扰动滑模控制
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南京信息工程大学自动化学院

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国家自然科学基金(51875293),科技部重点研发计划(2018YFC1405703)资助课题


Anti disturbance sliding mode control of fixed wing UAV Based on singular perturbation decomposition
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1.School of automation,Nanjing University of Informantion Science and Technology;2.School of automation,Nanjing University of Information Science &3.amp;4.Technology

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    摘要:

    为了提高固定翼无人机的飞行控制精度,减少系统动态耦合和外界干扰对固定翼无人机飞行控制系统的性能影响,建立固定翼无人机的奇异摄动模型,在此基础上提出基于干扰观测器的滑模控制方法。首先对固定翼无人机的速度和姿态进行动力学建模,将固定翼无人机的动力学模型转换为奇异摄动模型,再对奇异摄动模型进行快慢分解完成解耦,得到两个降阶非耦合子系统,即以角速度为快变量的快子系统和以速度、姿态为慢变量的慢子系统,分别对角速度回路和速度、姿态回路设计基于干扰观测器的滑模控制器。最后,用Simulink仿真验证了基于快、慢分解的固定翼无人机滑模控制方法的可行性和有效性。

    Abstract:

    In order to improve the flight control accuracy of fixed wing UAV and reduce the influence of system dynamic coupling and external disturbance on the performance of flight control system of fixed wing UAV. This paper proposed a singular perturbation model of fixed wing UAV and designed a sliding mode control method based on disturbance observer. Firstly, the velocity and attitude of the fixed wing UAV are modeled based on the dynamics of action.Then we transform the dynamic model of fixed wing UAV into singular perturbation model, and then the singular perturbation model is decomposed to complete decoupling. Two reduced order uncoupled subsystems are obtained which is the fast subsystem with angular velocity and the slow subsystem with linear velocity and attitude.The anti disturbance sliding mode controller is designed for angular velocity loop,angle and attitude loop respectively. Finally, the feasibility and effectiveness of the sliding mode control method based on fast and slow decomposition are verified by Simulink simulation.

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历史
  • 收稿日期:2021-10-19
  • 最后修改日期:2022-08-16
  • 录用日期:2022-08-18
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