| 沈林武* **,陈强*,陶玫玲*,何熊熊*.两旋翼飞行器非奇异固定时间自适应姿态控制[J].高技术通讯(中文),2021,31(2):170~179 |
| 两旋翼飞行器非奇异固定时间自适应姿态控制 |
| A non-singularity fixed-time adaptive attitude control for twin-rotor aircrafts |
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| DOI：10. 3772/j. issn. 1002-0470. 2021. 02. 007 |
| 中文关键词: 固定时间控制； 非奇异滑模面； 自适应控制； 两旋翼飞行器 |
| 英文关键词: fixed-time control, non-singularity sliding mode surface, adaptive control, twin-rotor aircraft |
| 基金项目: |
| 作者 | 单位 | | 沈林武* ** | | | 陈强* | | | 陶玫玲* | | | 何熊熊* | |
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| 中文摘要: |
| 针对具有系统不确定性和外部干扰的两旋翼飞行器, 提出一种非奇异固定时间自适应控制方法。构造新的非奇异终端滑模面, 并基于该滑模面设计固定时间控制器。同时，构造辅助函数避免控制器设计中的奇异值问题。设计自适应更新律估计系统不确定和干扰的上界，从而无需已知其上界的先验知识。基于李雅普诺夫定理证明滑模变量、系统姿态角误差和角速度误差能够在固定时间内收敛至平衡点附近邻域，且收敛时间上界与初始状态无关。最后，在两旋翼飞行器实验平台上验证了所提方法的有效性和优越性。 |
| 英文摘要: |
| In this paper, a non-singular fixed-time adaptive control scheme is proposed for twin-rotor aircrafts subject to system uncertainties and external disturbances. A novel non-singular terminal sliding mode surface is constructed and a fixed-time controller is designed accordingly. The singularity problem in the controller design could be avoided through constructing an auxiliary function. The adaptive update laws are developed to estimate the upper bounds of the lumped uncertainties and external disturbances, such that the prior knowledge on the bounds is not required. The Lyapunov synthesis is provided to show that the sliding mode variable, attitude error and velocity error could converge to the neighborhood of the equilibrium within the fixed time, and the setting time is independent of initial states. Finally, the effectiveness and superiority of the proposed scheme are validated on the practical twin-rotor platform. |
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