基于VTOL飞行器的滑模控制器设计

Sliding Mode Controller Design for VTOL Aircraft

摘要:

垂直起降(Vertical takeoff and landing,VTOL)飞行器是具有3个自由度、2个控制输入的非线性欠驱动控制系统,为了解决严重耦合的VTOL欠驱动系统的输出跟踪问题,首先将VTOL动力学模型解耦成一个最小相位系统和一个非最小相位系统,然后分别针对这两个解耦子系统设计滑模控制器,并通过Lyapunov理论证明系统的稳定性,最后仿真结果表明所设计的滑模控制器实现了对轨迹的无稳态误差跟踪,具有较好的鲁棒性,能够为此类欠驱动系统的输出跟踪问题提供设计参考。

Abstract:

The Vertical takeoff and landing aircraft is a nonlinear underactuated control system with three degrees of freedom and two control inputs. In order to solve the problem of output tracking of the serious coupling VTOL system, firstly, the VTOL dynamic model is decoupled into a minimum phase system and a nonminimum phase system. And then, the sliding mode controllers are designed respectively for the two decoupling system, meanwhile, the system's stability is proved by Lyapunov function. Finally, the simulation results show that the proposed sliding mode controller can achieve the tracking of the trajectory without steady-state error and has strong robustness. The method proposed in this paper can also provide design reference for the output tracking problem of this kind of underactuated system.