Path Tracking Control of UAV Based on Super Twisting Sliding Mode S-Plane
Aiming at the problems of low tracking accuracy and easy to be affected by external wind when small fixed wing UAV performs tasks,a path tracking controller based on the Super Twisting Sliding Mode S-Plane(STSM S-Plane)is designed,and the internal and external double loop control mode is adopted.The outer loop,namely the speed loop,adopts super twisting sliding mode control,and the inner loop,namely the attitude loop,adopts s-plane control.Considering that the der-ivation of S-plane control is easy to lead to integral explosion,the second-order differentiator is introduced,and the composition of the external wind is modeled and studied.The control performance of the designed algorithm is verified by spatial special curve.The simulation results show that the designed algorithm can achieve accurate tracking of the desired path of fixed wing UAV,and has good robustness and anti-interference performance.
万方数据
维普
