飞艇森林巡防轨迹跟踪的滑模控制

为实现无人飞艇在森林巡防时的轨迹跟踪控制, 针对飞艇飞行运动的非线性、 耦合等特点, 提出一种滑模控制方法。基于牛顿第二定律等定理推导飞艇巡防飞行的精确数学模型, 并通过选取状态向量和控制向量, 将其数学模型描述为非线性控制系统。通过泰勒级数展开将非线性系统简化为线性系统, 并设计滑模控制律, 同时采用饱和函数的方法抑制了滑模控制中的抖振问题。基于Lyapunov稳定性理论证明了所设计控制系统的稳定性。仿真结果表明, 该方法的轨迹跟踪效果较为理想, 可实现无人飞艇对期望轨迹的精确跟踪。

Sliding Mode Control of Airship Trajectory Tracking on Forest Patrol

To achieve unmanned airship trajectory tracking control when patrol in the forest and the airship flight movement is nonlinear,coupling,etc.,a sliding mode control method is proposed.First,the accurate mathematical model of airship is deduced based on Newton＇s second law and other theorem,and by selecting the state vector and control vector,its mathematical model can be described as the nonlinear control systems.Nolinear system is simplified to linear system by Taylor series expansion,and the sliding mode control law is designed,while using saturation function suppressed chattering problem of sliding mode control.Finally,the designed control system stability is proved by Lyapunov stability theory.As can be seen from the simulation curves,the effect of trajectory tracking is more ideal,it can achieve the unmanned airship desired trajectory for accurate tracking.