基于增益自适应超螺旋滑模理论的无人机控制

doi:10.16183/j.cnki.jsjtu.2022.238

摘要/Abstract

摘要：

以无人机为研究对象,针对无人机系统非线性强和飞行过程中外界干扰产生的不确定性,设计一种基于增益自适应滑模控制的无人机姿态控制器.该方法无需观测器对不确定性进行估计就可以实现对给定无人机姿态的跟踪控制,同时滑模控制中的抖振情况可以得到有效抑制.首先介绍无人机模型,给出其数学模型;其次,以误差为状态量,设计稳定收敛的滑模面,采用增益自适应超螺旋滑模算法设计能够有限时间收敛的无人机姿态控制器;再采用Lyapunov第二法证明闭环无人机系统的稳定性;最后对所提控制方法进行仿真验证.结果表明:该控制方法具有可靠的控制性能.

关键词: 无人机, 有限时间收敛, 增益自适应超螺旋滑模

Abstract:

In this paper, a nonlinear control method is proposed based on the framework of gain adaptive sliding mode control to deal with the attitude control problem of an unmanned aerial vehicle (UAV), which shows a strong robustness with respect to dynamical uncertainties and external disturbance. In the proposed method, an adaptive gain schedule scheme is proposed to deal with dynamical uncertainties while suppressing the chattering in the sliding mode control. First, the UAV model is introduced and its mathematical model is given. Then, the error is used as the state variable to design a stably converging sliding mode surface, and the gain adaptive super-twisting sliding mode (ASTSM) algorithm is used to design a UAV attitude controller that can converge in finite time, and the stability of the closed-loop UAV system is demonstrated by the Lyapunov’s second method. Finally, the efficiency of the proposed method is demonstrated through comparative simulations.

Key words: unmanned aerial vehicle (UAV), converge in finite time, gain adaptive super-twisting sliding mode (ASTSM)

中图分类号:

V249.122

周齐贤, 王寅, 孙学安. 基于增益自适应超螺旋滑模理论的无人机控制[J]. 上海交通大学学报, 2022, 56(11): 1453-1460.

ZHOU Qixian, WANG Yin, SUN Xuean. Control of Unmanned Aerial Vehicle Based on Gain Adaptive Super-Twisting Sliding Mode Theory[J]. Journal of Shanghai Jiao Tong University, 2022, 56(11): 1453-1460.

图/表 15

图1

图2

图3

图4

图5

图6

图7

图8

图9

图10

图11

图12

图13

图14

图15

参考文献 16

[1]	王家琪, 郭建国, 郭宗易, 等. 基于干扰观测器的高马赫数飞行器滑模控制[J]. 空天防御, 2021, 4(3): 85-91.
	WANG Jiaqi, GUO Jianguo, GUO Zongyi, et al. Sliding mode control of high Mach number aircraft based on disturbance observer[J]. Air & Space Defense, 2021, 4(3): 85-91.
[2]	黄金杰, 宫煜晴, 郝现志. 平稳切换LPV系统的H∞控制器设计[J]. 控制与决策, 2022, 37(5): 1167-1173.
	HUANG Jinjie, GONG Yuqing, HAO Xianzhi. Design of H∞ controller for smooth switching LPV systems[J]. Control and Decision, 2022, 37(5): 1167-1173.
[3]	孙冰, 陈伟. 抗控制饱和的鲁棒非线性飞行控制方法[J]. 北京航空航天大学学报, 2021, 47(12): 2475-2483.
	SUN Bing, CHEN Wei. Robust nonlinear flight control method against control saturation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(12): 2475-2483.
[4]	刘志豪, 闵荣, 方成, 等. 多飞行模式垂直起降无人机过渡飞行控制策略[J]. 上海交通大学学报, 2019, 53(10): 1173-1181.
	LIU Zhihao, MIN Rong, FANG Cheng, et al. Transition flight control strategy of multiple flight mode vertical take-off and landing unmanned aerial vehicle[J]. Journal of Shanghai Jiao Tong University, 2019, 53(10): 1173-1181.
[5]	HUANG X, LUO W Y, LIU J R. Attitude control of fixed-wing UAV based on DDQN[C]∥2019 Chinese Automation Congress. Hangzhou, China: IEEE, 2019: 4722-4726.
[6]	ZHI Y F, LI G S, SONG Q, et al. Flight control law of unmanned aerial vehicles based on robust servo linear quadratic regulator and Kalman filtering[J]. International Journal of Advanced Robotic Systems, 2017, 14(1): 1-11
[7]	HIRANO S, UCHIYAMA K, MASUDA K. Controller design using backstepping algorithm for fixed-wing UAV with thrust vectoring system[C]∥2019 International Conference on Unmanned Aircraft Systems. Atlanta, GA, USA: IEEE, 2019: 1084-1088.
[8]	DE OLIVEIRA H A, ROSA P F F. Adaptive genetic neuro-fuzzy attitude control for a fixed wing UAV[C]∥2017 IEEE International Conference on Industrial Technology. Toronto, ON, Canada: IEEE, 2017: 726-731.
[9]	SWARNKAR S, KOTHARI M. A simplified adaptive backstepping control of aircraft lateral/directional dynamics[J]. IFAC-PapersOnLine, 2016, 49(1): 579-584.
[10]	DUAN G R. Missile attitude control-A direct parametric approach[C]∥The 33rd Chinese Control Conference, Nanjing, China: TCCT, 2014: 2414-2421.
[11]	张显库, 韩旭. 大型油轮艏摇混沌现象的仿真与滑模控制[J]. 上海交通大学学报, 2021, 55(1): 40-47.
	ZHANG Xianku, HAN Xu. Modeling and sliding mode control for chaotic yawing phenomenon of large oil tanker[J]. Journal of Shanghai Jiao Tong University, 2021, 55(1): 40-47.
[12]	姚来鹏, 侯保林, 刘曦. 采用摩擦补偿的弹药传输机械臂自适应终端滑模控制[J]. 上海交通大学学报, 2020, 54(2): 144-151.
	YAO Laipeng, HOU Baolin, LIU Xi. Adaptive terminal sliding mode control of a howitzer shell transfer arm with friction compensation[J]. Journal of Shanghai Jiao Tong University, 2020, 54(2): 144-151.
[13]	张超凡, 董琦. 考虑输入饱和的固定翼无人机自适应增益滑模控制[J]. 航空学报, 2020, 41(Sup.1): 79-87.
	ZHANG Chaofan, DONG Qi. Adaptive-gain sliding mode control for fixed-wing UAVs with input saturation[J]. Acta Aeronautica et Astronautica Sinica, 2020, 41(Sup.1): 79-87.
[14]	DONG Q, ZONG Q, TIAN B L, et al. Adaptive-gain multivariable super-twisting sliding mode control for reentry RLV with torque perturbation[J]. International Journal of Robust and Nonlinear Control, 2017, 27(4): 620-638. doi: 10.1002/rnc.3589 URL
[15]	HU Q, LI B, QI J. Disturbance observer based finite-time attitude control for rigid spacecraft under input saturation[J]. Aerospace Science and Technology, 2014, 39: 13-21. doi: 10.1016/j.ast.2014.08.009 URL
[16]	SHTESSEL Y B, MORENO J A, FRIDMAN L M. Twisting sliding mode control with adaptation: Lyapunov design, methodology and application[J]. Automatica, 2017(75): 229-235.