计算机工程与应用2024，Vol.60Issue(13)：353-360,8.DOI:10.3778/j.issn.1002-8331.2304-0265
固定翼UAV路径跟踪的全局稳定积分滑模S面控制
Path Tracking Controller of Fixed-Wing UAVs Based on Globally Stable Integral Sliding Mode S-Plane Model
摘要
Abstract
For the three-dimensional path tracking control problem of fixed-wing unmanned aerial vehicles,an inner and outer loop controller based on globally stable integral sliding mode S-plane model is proposed in this paper.The outer loop is controlled by the globally stable integral sliding mode,and the inner loop is controlled by the S-plane.Firstly,the globally stable integral sliding control law is designed for the outer loop,and the stability of the control law is proved using the Lyapunov theory.Then the S-plane controller is designed for the instruction signal of the inner loop.Due to the complexity of derivation in the S-plane controller,a second-order differentiator is introduced.The simulation results show that the proposed controller can track the ideal path accurately,which has good control performance and anti-interference performance.关键词
无人机/全局稳定/路径跟踪/运动控制/滑模控制/S面控制Key words
unmanned aerial vehicle/global stability/path tracking/motion control/sliding mode control/S-plane control分类
信息技术与安全科学引用本文复制引用
陈鹏云,张国兵,李佳成,关通,石上瑶..固定翼UAV路径跟踪的全局稳定积分滑模S面控制[J].计算机工程与应用,2024,60(13):353-360,8.基金项目
国家自然科学基金(51909245,62003314) （51909245,62003314）
山西省重点研发计划(202202020101001) （202202020101001）
山西省基础研究计划(202103021224187,20210302124010,20210302123050). （202103021224187,20210302124010,20210302123050）
