火力与指挥控制2024，Vol.49Issue(2)：11-17,7.DOI:10.3969/j.issn.1002-0640.2024.02.002
基于Super-Twisting滑模S面的无人机路径跟踪控制
Path Tracking Control of UAV Based on Super Twisting Sliding Mode S-Plane
摘要
Abstract
Aiming at the problems of low tracking accuracy and easy to be affected by external wind when small fixed wing UAV performs tasks,a path tracking controller based on the Super Twisting Sliding Mode S-Plane(STSM S-Plane)is designed,and the internal and external double loop control mode is adopted.The outer loop,namely the speed loop,adopts super twisting sliding mode control,and the inner loop,namely the attitude loop,adopts s-plane control.Considering that the der-ivation of S-plane control is easy to lead to integral explosion,the second-order differentiator is introduced,and the composition of the external wind is modeled and studied.The control performance of the designed algorithm is verified by spatial special curve.The simulation results show that the designed algorithm can achieve accurate tracking of the desired path of fixed wing UAV,and has good robustness and anti-interference performance.关键词
固定翼无人机/Super-Twisting滑模/S面控制/风干扰Key words
fixed wing UAV/super-twisting sliding mode/s-plane control/wind disturbance分类
航空航天引用本文复制引用
张国兵,石上瑶,李佳成,常哲,陈鹏云..基于Super-Twisting滑模S面的无人机路径跟踪控制[J].火力与指挥控制,2024,49(2):11-17,7.基金项目
国家自然科学基金(51909245,62003314) （51909245,62003314）
山西省基础研究计划资助(201901D211244,202103021224187) （201901D211244,202103021224187）
中国航空科学基金资助项目(2019020U0002) （2019020U0002）
