控制理论与应用2025，Vol.42Issue(10)：2010-2018,9.DOI:10.7641/CTA.2025.40460
倾转旋翼eVTOL的快速非奇异终端滑模轨迹跟踪控制
Fast non-singular terminal sliding mode trajectory tracking control for tilt-rotor eVTOL
摘要
Abstract
Aiming at the nonlinear,multivariable,strongly coupled and multi-source interference dynamics character-istics of tilt-rotor electric vertical take-off and landing vehicle(eVTOL),this paper proposes a fast terminal sliding mode control algorithm based on fast convergence law.Firstly,based on the established six-degree-of-freedom nonlinear model,the actual control quantities are transformed into pseudo-control variables for each control channel,and the flight control is decoupled through the pseudo-control variables.Secondly,the fast terminal sliding mode surface is constructed,the equivalent control part in the controller is designed to achieve the fast convergence of the system state tracking error in a finite period of time,and a new type of successive convergence law is designed based on the fal nonlinear function to further reduce the chatter.Then an exponentially convergent disturbance observer is designed to compensate for the pos-sible disturbances of the system.Finally,the simulation results show that the proposed control algorithm shows superior trajectory tracking and anti-disturbance capabilities in the face of complex disturbances.关键词
倾转旋翼eVTOL/滑模控制/快速趋近律/轨迹跟踪/非线性控制系统/扰动观测器Key words
tilt-rotor eVTOL/sliding mode control/fast reaching law/trajectory tracking/nonlinear control systems/disturbance observer引用本文复制引用
徐萌,徐璇,高冰..倾转旋翼eVTOL的快速非奇异终端滑模轨迹跟踪控制[J].控制理论与应用,2025,42(10):2010-2018,9.基金项目
国家自然科学基金项目(61773202),民航局安全能力建设重点项目(KJZ49420240070)资助.Supported by the National Natural Science Foundation of China(61773202)and the Key Project of Safety Capacity Building of Civil Aviation Admini-stration of China(KJZ49420240070). （61773202）
