小型无人飞行器风场扰动自适应控制方法

针对小型无人飞行器在执行任务时传感器测量精度低、受风场扰动影响大的问题,提出了一种利用矢量域与滑模控制相结合的复合控制方式,有效地实现了对小型无人飞行器的轨迹与航向的自适应跟踪。将复杂航迹分解为直线段与圆弧段分别构建矢量域,从而确定基于位置误差的航迹信息,并通过机载传感器获得状态和位置信息,利用滑模控制方法抑制风场扰动对小型无人飞行器的影响。试验结果表明,本文提出的控制算法能够保证阵风干扰情况下小型无人飞行器的航迹控制精度,同时具有良好的动态响应。

Adaptive Control for Small Unmanned Aerial Vehicle Under Wind Disturbance

To cope with the problem of low measurement precision of sensors and wind disturbance to an unmanned aerial vehicle in action, this article proposes a composite path-following control method based on vector fields and the sliding model control method. Through the separation of a complex flight path, vector fields are constructed for the straight line and the curved line respectively. Based on the sensor information, the current state and trajectory information of the small unmanned aerial vehicle can be obtained. With the sliding model control method, the system adjusts motors to realize precise path following under wind disturbance. Tests confirm that the proposed method can improve the path following performance and dynamic response for the small unmanned aerial vehicle under wind disturbance.