尾坐式飞行器过渡模式纵向姿态控制

Fuzzy Sliding Mode Control for Translational Flight of Tail-Sitter UAV

摘要:

针对尾坐式飞行器由垂直飞行模式向水平飞行模式转换过程中产生的模型参数变动干扰问题,设计了模糊滑模控制器进行姿态控制,利用模糊规则自适应调整趋近律以消除系统的抖振;通过仿真和飞行实验,验证了所设计的控制器具有良好的跟踪性能和鲁棒性,可以克服飞行器在过渡模式下系统参数的变动干扰,而且削弱了滑模控制器造成的输出抖振,减轻了副翼执行机构的负担。

Abstract:

A fuzzy sliding mode controller is designed in order to solve the interference problem of changes in model parameters of tail-sitter UAV during the transition from vertical flight to horizontal flight. To avoid the chattering of the system, fuzzy rules are utilized for self-tuning the approach law. The simulation and experimentation results reveal that the controller not only has good tracking quality and robustness against the disturbance of changes in model parameters during the transition flight of the UAV, but also reduces the chattering of controllers' output and the burden on the aileron executing agency.