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

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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.

Convertible UAVFlight controlDisturbance observerFixed-time control

Lulu Chen、Zhenbao Liu、Qingqing Dang、Wen Zhao、Wenyu Chen

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School of Civil Aviation,Northwestern Polytechnical University,Xi'an 710072,China

Shenzhen Research Institute of Northwestern Polytechnical University,Shenzhen 518057,China

Air and Missile Defense College,Air Force Engineering University,Xi'an 710051,China

National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaBeijing Institute of Spacecraft System Engineering Research ProjectNatural Science Foundation of Shaanxi Province,ChineseNatural Science Foundation of Shaanxi Province,ChineseIndustry-University-Research Innovation Fund of Ministry of Education for Chinese Universities

5207230962303379JSZL2020203B0042023-JC-QN-00032023-JC-QN-06652022IT189

2024

10.1016/j.dt.2024.04.009

防务技术
中国兵工学会

防务技术

CSTPCD
影响因子：0.358
ISSN：2214-9147
年,卷(期)：2024.39(9)