南京信息工程大学学报2023，Vol.15Issue(6)：731-740,10.DOI:10.13878/j.cnki.jnuist.20211019001
基于奇异摄动分解的固定翼无人机抗扰动滑模控制
Anti-disturbance sliding mode control of fixed-wing UAV based on singular perturbation decomposition
摘要
Abstract
To reduce the influence of system dynamic coupling and external disturbance on the performance of flight control system of fixed-wing UAV thus improve its flight control accuracy,this paper proposes a singular per-turbation model for fixed-wing UAV and then designs a sliding mode control approach based on disturbance observ-er.The velocities and attitudes of the fixed-wing UAV are modeled based on the dynamics of action.Then the dynam-ic model is transformed into a singular perturbation one and then decomposed to complete decoupling.Two reduced-order uncoupled subsystems are obtained,which is a fast subsystem with angular velocity as fast variable and a slow subsystem with linear velocity and attitude as slow variables.Then anti-disturbance sliding mode controllers are de-signed for angular velocity loop,and angle&attitude loop.Finally,the feasibility and effectiveness of the sliding mode control approach based on fast and slow decomposition are verified by Simulink simulation.关键词
奇异摄动法/固定翼无人机/滑模控制/干扰观测器/动力学建模Key words
singular perturbation/fixed-wing UAV/sliding mode control/disturbance observer/dynamic modeling分类
信息技术与安全科学引用本文复制引用
梅平,张豪,朱涵智,苏东彦,赵迅..基于奇异摄动分解的固定翼无人机抗扰动滑模控制[J].南京信息工程大学学报,2023,15(6):731-740,10.基金项目
国家自然科学基金(51875293) （51875293）
国家重点研发计划(2018YFC1405703) （2018YFC1405703）
