防务技术2024，Vol.39Issue(9) ：53-66.DOI:10.1016/j.dt.2024.04.009

Robust fixed-time flight controller for a dual-system convertible UAV in the cruise mode

Lulu Chen Zhenbao Liu Qingqing Dang Wen Zhao Wenyu Chen
防务技术2024，Vol.39Issue(9) ：53-66.DOI:10.1016/j.dt.2024.04.009
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  • 维普
  • 万方数据

Robust fixed-time flight controller for a dual-system convertible UAV in the cruise mode

Lulu Chen 1Zhenbao Liu 2Qingqing Dang 1Wen Zhao 1Wenyu Chen3
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作者信息

  • 1. School of Civil Aviation,Northwestern Polytechnical University,Xi'an 710072,China
  • 2. School of Civil Aviation,Northwestern Polytechnical University,Xi'an 710072,China;Shenzhen Research Institute of Northwestern Polytechnical University,Shenzhen 518057,China
  • 3. Air and Missile Defense College,Air Force Engineering University,Xi'an 710051,China
  • 折叠

Abstract

This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled un-certainties and wind disturbances.First,a fixed-time disturbance observer(FXDO)based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model.Then,a fixed-time integral sliding mode control(FXISMC)is combined with the FXDO to achieve strong robustness and chattering reduction.Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability.Finally,numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind distur-bances.In addition,the proposed algorithm is deployed in a open-source UAV autopilot and its effec-tiveness is further demonstrated by hardware-in-the-loop experimental results.

Key words

Convertible UAV/Flight control/Disturbance observer/Fixed-time control

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基金项目

National Natural Science Foundation of China(52072309)

National Natural Science Foundation of China(62303379)

Beijing Institute of Spacecraft System Engineering Research Project(JSZL2020203B004)

Natural Science Foundation of Shaanxi Province,Chinese(2023-JC-QN-0003)

Natural Science Foundation of Shaanxi Province,Chinese(2023-JC-QN-0665)

Industry-University-Research Innovation Fund of Ministry of Education for Chinese Universities(2022IT189)

出版年

2024
防务技术
中国兵工学会

防务技术

CSTPCD
影响因子：0.358
ISSN：2214-9147
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