标题:
固定翼无人机的滑模控制方法研究Study on Sliding Mode Control Method of the Fixed-Wing Unmanned Aerial Vehicle
作者:
史兴隆, 王立峰
关键字:
固定翼无人机, 滑模控制, 轨迹跟踪, 建模仿真Fixed-Wing Unmanned Aerial Vehicle, Sliding Mode Control, Trajectory Tracking, Modeling and Simulation
期刊名称:
《Dynamical Systems and Control》, Vol.5 No.3, 2016-07-27
摘要:
在研究固定翼无人机的轨迹跟踪控制问题时，为提高跟踪系统鲁棒性，设计了一款滑模控制器。在建立固定翼无人机数学模型后，对固定翼轨迹跟踪控制的模型进行分析. 并将滑模变结构控制应用到固定翼无人机的轨迹跟踪控制中，通过Lyapunov理论证明系统的稳定性，最后在MATLAB环境中，通过建模仿真数值试验验证方法可行性。
Aiming at improving the robustness of the tracking system, an adaptive sliding mode controller on the fixed wing unmanned aerial vehicle (UAV) trajectory tracking control problem is suggested. After introducing the establishment of the fixed-wing unmanned aerial vehicle mathematical model, the trajectory tracking control model is analyzed. The sliding mode control technology is applied into UAV trajectory tracking control model, and the robustness of the system is improved through Lyapunov theory, Finally, it's feasibility that is tested through modeling and simulation experiments in MATLAB.