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

doi:10.3778/j.issn.1002-8331.2304-0265

Abstract

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

CHEN Pengyun, ZHANG Guobing, LI Jiacheng, GUAN Tong, SHI Shangyao. Path Tracking Controller of Fixed-Wing UAVs Based on Globally Stable Integral Sliding Mode S-Plane Model[J]. Computer Engineering and Applications, 2024, 60(13): 353-360.

陈鹏云, 张国兵, 李佳成, 关通, 石上瑶. 固定翼UAV路径跟踪的全局稳定积分滑模S面控制[J]. 计算机工程与应用, 2024, 60(13): 353-360.

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