固定翼UAV路径跟踪的全局稳定积分滑模S面控制OA北大核心CSTPCD

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.