Computer Engineering and Applications ›› 2024, Vol. 60 ›› Issue (13): 353-360.DOI: 10.3778/j.issn.1002-8331.2304-0265

• Engineering and Applications • Previous Articles     Next Articles

Path Tracking Controller of Fixed-Wing UAVs Based on Globally Stable Integral Sliding Mode S-Plane Model

CHEN Pengyun, ZHANG Guobing, LI Jiacheng, GUAN Tong, SHI Shangyao   

  1. 1.School of Aerospace Engineering, North University of China, Taiyuan 030051, China
    2.School of Software, North University of China, Taiyuan 030051, China
  • Online:2024-07-01 Published:2024-07-01

固定翼UAV路径跟踪的全局稳定积分滑模S面控制

陈鹏云,张国兵,李佳成,关通,石上瑶   

  1. 1.中北大学 航空宇航学院,太原 030051
    2.中北大学 软件学院,太原 030051

Abstract: For the three-dimensional path tracking control problem of fixed-wing unmanned aerial vehicles, an inner and outer loop controller based on globally stable integral sliding mode S-plane model is proposed in this paper. The outer loop is controlled by the globally stable integral sliding mode, and the inner loop is controlled by the S-plane. Firstly, the globally stable integral sliding control law is designed for the outer loop, and the stability of the control law is proved using the Lyapunov theory. Then the S-plane controller is designed for the instruction signal of the inner loop. Due to the complexity of derivation in the S-plane controller, a second-order differentiator is introduced. The simulation results show that the proposed controller can track the ideal path accurately, which has good control performance and anti-interference performance.

Key words: unmanned aerial vehicle, global stability, path tracking, motion control, sliding mode control, S-plane control

摘要: 针对固定翼无人机的三维路径跟踪控制问题,设计了一种基于全局稳定积分滑模S面模型的内外环控制器。控制器外环采用全局稳定积分滑模控制,内环采用S面控制。设计控制器外环的全局稳定积分滑模控制律,并采用Lyapunov理论证明所设计控制律的稳定性。对内环的指令信号设计S面控制器,考虑到S面控制器中求导的复杂性,引入二阶微分器,解决内环中导数存在积分爆炸的问题。半物理仿真试验结果表明,提出的控制器能精确跟踪期望路径,具有良好的控制性能和抗干扰性能。

关键词: 无人机, 全局稳定, 路径跟踪, 运动控制, 滑模控制, S面控制