控制理论与应用2026，Vol.43Issue(3)：460-470,11.DOI:10.7641/CTA.2024.30663
时变质量双涡喷构型无人机建模与轨迹跟踪
Modelling and sliding mode-based trajectory tracking control of a dual-jet UAV with time-varying mass
摘要
Abstract
This paper proposes an adaptive sliding mode control method to address the trajectory tracking problem encountered by a specific type of unmanned aerial vehicle-dual-jet unmanned aerial vehicle(DJUAV)equipped with a dual-jet vector thrust system,particularly under the condition of time-varying mass.Firstly,by extending the six-degree-of-freedom model of general aircraft to account for time-varying mass conditions,the mathematical model for the DJUAV is established.Secondly,an allocation strategy for the designed vector thrust mechanism is devised to meet the force and torque requirements of the control system.On this basis,an adaptive sliding mode controller is developed to enable the system to accurately track the desired trajectory,even in the presence of model uncertainties arising from the time-varying mass.The controller ensures asymptotic convergence of the position tracking error to zero.Finally,simulation results validate the feasibility of the mathematical model and demonstrate the effectiveness of the proposed controller.关键词
双涡喷发动机/无人机/时变质量/建模/轨迹跟踪/自适应滑模Key words
dual-jet/unmanned aerial vehicle/time-varying mass/modelling/trajectory tracking/adaptive sliding mode引用本文复制引用
闫林,李鹏,何家兴,张钊..时变质量双涡喷构型无人机建模与轨迹跟踪[J].控制理论与应用,2026,43(3):460-470,11.基金项目
国家自然科学基金项目(62373201)资助.Supported by the National Natural Science Foundation of China(62373201). （62373201）
