基于扰动观测器的飞行器轨迹跟踪控制器设计

针对多种扰动作用下的固定翼飞行器三维轨迹跟踪问题, 设计了一种基于改进非线性扰动观测器的非奇异快速终端滑模轨迹跟踪控制器。首先推导固定翼飞行器三维轨迹跟踪误差模型, 考虑模型误差和飞行过程中的未知扰动, 设计了一种基于状态估计误差反馈的非线性扰动观测器对扰动进行观测。基于非奇异快速终端滑模控制方法, 采用双幂次趋近律设计轨迹跟踪控制器, 并证明了闭环控制系统的稳定性。仿真结果表明, 在多种扰动的作用下, 所设计的轨迹跟踪控制器能够对三维机动轨迹进行准确、稳定的跟踪。

Design of aircraft trajectory tracking controller based on disturbance observer

Aiming at the tracking of the three-dimensional trajectory of fixed-wing aircraft under various disturbances, a non-singular fast terminal sliding mode (TSM) trajectory tracking controller based on an improved nonlinear disturbance observer is proposed. Firstly, a three-dimensional trajectory tracking error model of the fixed-wing aircraft is derived. Considering the model error and the unknown disturbance during the flight, a nonlinear disturbance observer based on state estimation error feedback is designed to observe disturbances. Based on the non-singular fast TSM control method, the trajectory tracking controller is designed with the double power reaching law, and the stability of the closed-loop control system is proved. Simulation results show that the designed trajectory tracking controller can accurately and stably track the three-dimensional maneuvering trajectory under various disturbances.