跟踪微分器与增量非线性动态逆相结合的飞翼无人机宽工况姿态控制

doi:10.7527/S1000-6893.2026.33119

Abstract

Abstract:

To meet the requirements of a complete flight mission profile for the flying-wing Unmanned Aerial Vehicles （UAVs）， autonomous and reliable attitude control under wide flying envelope plays a crucial role. How to overcome the influence of flying-wing UAVs’ insufficient longitudinal maneuverability， weak directional stability， as well as the combined effects of strong nonlinearity under wide operating conditions and external disturbances， to achieve precise and stable control， is a significant challenge. This paper focuses on the study of autonomous and reliable attitude control of flying-wing UAVs under wide flying envelope. Firstly， to overcome the effects of strong nonlinearity and model deviations of the aircraft， an Incremental Nonlinear Dynamic Inversion（INDI）-based attitude control method is designed. Combined with the dynamical characteristics of coordinated turns for vehicles， reasonable calculation of pseudo commands is achieved. Based on the proposed method， extensive simulation tests for longitudinal， lateral-direction channels and crosswind disturbances environments were carried out， to verify the effectiveness and limitations of the method. Secondly， to address the differential calculation problem in INDI， a Tracking Differentiator（TD）-based pseudo-command optimization method was designed. Finally， simulation and actual flight experiments of the attitude controller based on combining INDI and TD were conducted， and the advantages of the designed method were validated through tests in noise environments.

Key words: flying-wing UAVs, attitude control, wide envelope, incremental nonlinear dynamic inversion, tracking differentiator

CLC Number:

V249.1

Qingyang CHEN, Zhengmin JIA, Yafei LU, Yujie WANG, Peng WANG. Attitude control under wide-envelope for flying-wing UAVs combining tracking differentiator and incremental nonlinear dynamic inversion[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(15): 333119.

Figures/Tables 27

Fig.1

Table 1

UAV parameters

参数	数值	参数	数值
翼面积 $S a e r o / m 2$	2.89	起飞质量/ $k g$	36.65
翼展 $b / m$	2.96	$I x x / k g ⋅ m 2$	5.01
平均几何弦长 $c / m$	0.98	$I y y / k g ⋅ m 2$	3.12
展弦比	3.03	$I z z / k g ⋅ m 2$	8.13
巡航速度/ $M a$	0.145	$I x z / k g ⋅ m 2$	0.03

Table 1

Fig.2

Fig.3

Table 2

Simulation test situations

测试工况	配平状态	指令	指令信号
工况1	$α = 3 °$ ， $β = 0 °$ ， $γ = 0 °$	$Δ ϕ = 0 °$ $Δ θ = ± 1 °$	方波
	$α = 3 °$ ， $β = 0 °$ ， $γ = 0 °$	$Δ ϕ = + 1 °$ $Δ θ = 0 °$	阶跃
	$α = 3 °$ ， $β = 0 °$ ， $γ = 0 °$	$Δ χ = + 1 °$ $Δ θ = 0 °$	阶跃
工况2	$α = 17 °$ ， $β = 0 °$ ， $γ = 0 °$	$Δ ϕ = 0 °$ $Δ θ = ± 1 °$	方波
	$α = 17 °$ ， $β = 0 °$ ， $γ = 0 °$	$Δ ϕ = + 1 °$ $Δ θ = 0 °$	阶跃
	$α = 17 °$ ， $β = 0 °$ ， $γ = 0 °$	$Δ χ = + 1 °$ $Δ θ = 0 °$	阶跃

Table 2

Fig.4

Table 3

Parameters for longitudinal attitude controller

回路	参数	数值
外回路	$k p θ$	3.0
	$k i θ$	0
	$k d θ$	0.8
内回路	$k p q$	-5.0
	$k i q$	-8.0
	$k d q$	0

Table 3

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Table 4

Parameters for lateral attitude controller

回路	数值	内回路
外回路	$k p ϕ$	4.0
	$k i ϕ$	0
	$k d ϕ$	0.1
	$k p β$	0.5
内回路	$k p p$	1.0
	$k i p$	0.2
	$k d p$	0
	$k p r$	-0.1

Table 4

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Fig.15

Table 5

Test situations for TD

测试工况	配平状态	指令	指令信号
TD对比测试	$α = 3 °$ ， $β = 0 °$ ， $γ = 0 °$	$Δ ϕ = 0 °$ ， $Δ θ = ± 1 °$	方波，方波（噪声）

Table 5

Fig.16

Fig.17

Fig.18

Fig.19

Fig.20

Fig.21

Fig.22

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Attitude control under wide-envelope for flying-wing UAVs combining tracking differentiator and incremental nonlinear dynamic inversion

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