摘要
在未知干扰环境下,对无人机编队飞行的稳定性和精度提出了更高的要求,采用常规滑模控制的编队算法由于"抖振"等问题,不适应高精度和稳定性的要求。针对此问题,提出了一种基于高阶滑模控制的编队飞行控制方法,以三架无人机编队为例,建立了三维空间高阶滑模控制编队控制模型,实现了长机的航路跟踪及僚机的编队队形控制和保持。仿真结果表明,采用高阶滑模的编队控制具有更高的控制精度和可靠性。
In the unknown bounded disturbances, in order to keep a steady formation, the UAV control must be more stable and precise. The conventional sliding mode controller could not meet the needs, because of the chattering of sliding mode control. In allusion to the problem, this paper proposes a kind of sliding mode controller which is based on a high-order sliding mode control method. It establishes the control model in a three-dimensional space with three UAVs, adopting the leader-follower principle. Thus, the simulation results showthat the proposed control strategy can make a formation flight system have higher precision and reliability against uncertain external disturbances.
出处
《飞行力学》
CSCD
北大核心
2011年第1期38-41,58,共5页
Flight Dynamics
基金
863创新基金资助
关键词
编队飞行
高阶滑模控制
路径跟踪
控制策略
formation flight
high-order sliding mode control
path tracking
control strategy
