基于扩展状态观察员和辅助补偿器的无人机无尾翼全翼配置的有限时间终端滑动模式态度控制
Ruijie Sun1, Zhou Zhou1, Xiaoping Zhu2
1School of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, PR China.
ISA transactions
|November 7, 2023
概括
一个新的有限时间终端滑动模式控制器增强了无尾全翼无人机的姿态控制. 这种强大的系统提供了卓越的性能,低能耗和有效的干扰排斥.
科学领域:
- 航空航天工程 航空航天工程
- 控制系统理论 控制系统理论
- 机器人技术 机器人技术 机器人技术
背景情况:
- 无尾翼全翼无人机 (UAV) 对干扰具有很高的敏感性.
- 螺旋和操纵导致强烈的非线性和合,复杂的态度控制.
研究的目的:
- 提出一个有限时间终端滑动模式控制器,以复合补偿无尾全翼无人机的稳定姿态控制.
- 为了解决这些飞机固有的非线性和干扰敏感性.
主要方法:
- 内部循环滑动模式控制器的设计,基于对角速度跟踪错误的有限时间收的奇点扰动理论.
- 设计一个外环滑动模式控制器,以快速收的态度角度跟踪错误.
- 复合补偿策略以减轻非线性和干扰效应.
- 基于对指令脱的最小欧几里德规范优化进行控制分配.
主要成果:
- 拟议的控制器确保了追踪错误的有限时间融合,而没有初始状态依赖.
- 实现了态度角度跟踪误差的快速收,无论离原点近还是远.
- 控制分配器有效地解命令,减少所需的控制工作量.
- 综合验证证明了卓越的控制性能,降低了能源消耗和强大的稳定性.
结论:
- 具有复合补偿的有限时间终端滑动模式控制器为没有尾翼的全翼无人机提供了稳定和强大的姿态控制.
- 控制器在巡航飞行环境中表现出卓越的性能,低能耗和高强度.
- 拟议的控制策略有效地管理了UAV复杂动态中的非线性和干扰灵敏度.
相关概念视频
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