广东工业大学学报2026，Vol.43Issue(1)：79-86,8.DOI:10.12052/gdutxb.250101
基于分数阶滑模的四旋翼无人机抗风扰控制
Fractional-order Sliding-model-based Anti-wind Disturbance Control for Quadrotor UAVs
摘要
Abstract
In this study,a dual-closed-loop fractional-order sliding mode control(FOSMC)algorithm is designed to address the wind field disturbances during UAV trajectory tracking.A mathematical model of the wind field is established and integrated it into the UAV dynamics model to characterize external perturbations.The proposed FOSMC introduces fractional-order differential operators into both the sliding mode surface and convergence law,thereby enhancing the control flexibility and robustness of the system.At the same time,the supporting application of nonlinear disturbance observer is used for wind disturbance adaptive compensation,and the control parameters are automatically tuned with the help of intelligent optimization algorithm.The simulation results show that,under wind disturbance conditions,the proposed algorithm exhibit superior robustness and tracking performance compared to conventional sliding mode control(SMC)and PID algorithms,confirming its effectiveness in the complex wind field environment.关键词
四旋翼/风场扰动/轨迹跟踪/分数阶滑模控制/粒子群优化算法Key words
quadrotor/wind field disturbance/trajectory tracking/fractional order sliding mode control/particle swarm optimization algorithm分类
信息技术与安全科学引用本文复制引用
王海龙,梁杰,宴聪..基于分数阶滑模的四旋翼无人机抗风扰控制[J].广东工业大学学报,2026,43(1):79-86,8.基金项目
国家重点研发计划项目(2023YFC3106904) （2023YFC3106904）
广东工业大学2024年度实验教学与管理改革研究专项项目(20240722) （20240722）
