考虑输入饱和的固定翼无人机自适应增益滑模控制

doi:10.7527/S1000-6893.2019.23755

Abstract

Abstract: Under the effects of complex flight environments, a control strategy for fixed-wing UAVs based on the adaptive sliding mode algorithm is proposed considering external disturbances and the input saturation. Firstly, a fixed-wing UAV model is introduced and further divided into an attitude subsystem and a velocity subsystem. Then, according to different characteristics and control requirements of the two subsystems, a novel adaptive multivariable twisting algorithm and a novel adaptive-gain fast super twisting sliding mode algorithm are proposed to design an attitude controller and a velocity controller for a fixed-wing UAV respectively. In this control strategy, the observer is not needed to estimate the disturbance. The stability of the closed loop systems is proved based on Lyapunov stability analysis. Finally, simulations are conducted to demonstrate the effectiveness and favorable control performance of the proposed strategy.

Key words: fixed-wing UAVs, attitude control, velocity control, adaptive-gain, twisting sliding mode algorithms, fast super-twisting sliding mode algorithms

CLC Number:

ZHANG Chaofan, DONG Qi. Adaptive-gain sliding mode control for fixed-wing UAVs with input saturation[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S1): 723755-723755.

References 20

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Adaptive-gain sliding mode control for fixed-wing UAVs with input saturation

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