自动化学报2025，Vol.51Issue(5)：972-984,13.DOI:10.16383/j.aas.c240621
基于固定时间模型参考方法的倾转旋翼无人机姿态控制
Attitude Control of Tilt-rotor Unmanned Aerial Vehicle Based on Fixed-time Model Reference Method
摘要
Abstract
Tilt-rotor unmanned aerial vehicles(UAVs)exhibit complex dynamic characteristics during the trans-ition process.Their variable speed and variable configuration features result in significant model uncertainties.Meanwhile,they are easily affected by disturbances such as gusts of wind,which imposes high demands on the design of attitude control laws.To address this issue,this paper proposes a model reference attitude control meth-od that combines a disturbance observer with a terminal sliding mode compensator.A fixed-time convergent dis-turbance observer is designed to accurately estimate the unmodeled dynamics and external disturbances of the tilt-rotor UAV based on homogeneous system theory.A fixed-time convergent terminal sliding mode controller is de-signed by using a novel nonlinear saturation function,achieving fast and high-quality tracking of the reference sig-nal with low-pass filtering.To further address the control singularity issue,an improvement strategy is proposed for the controller in the vicinity of the longitudinal axis.Simulation results show that the proposed method exhibits strong robustness against model uncertainties and external disturbances for tilt-rotor UAVs.Compared to the mod-el reference attitude control method based on finite-time stability theory,the fixed-time convergence control provides higher control accuracy and smoother output.关键词
倾转旋翼无人机/姿态控制/固定时间收敛/模型参考控制/滑模控制Key words
Tilt-rotor unmanned aerial vehicle/attitude control/fixed-time convergent/model reference control/sliding mode control引用本文复制引用
朱纪洪,张骁骏,杨赟杰,袁夏明..基于固定时间模型参考方法的倾转旋翼无人机姿态控制[J].自动化学报,2025,51(5):972-984,13.基金项目
国家自然科学基金(62203259,62073185),中航工业成都飞机设计研究所预研项目,航空科学基金(20240058058001)资助Supported by National Natural Science Foundation of China(62203259,62073185),Pre-research Project of A VIC Chengdu Aircraft Design and Research Institute,Aeronautical Science Foundation of China(20240058058001) （62203259,62073185）
