Design of super-twisting controller for rotor vehicle based on high-order sliding mode observer with laser rangefinder

LI Wei; GUAN Ying-zi; YAN Zhou; HUANG Rui-song; ZENG Xiang-xin

doi:10.3788/OPE.20172514.0018

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Design of super-twisting controller for rotor vehicle based on high-order sliding mode observer with laser rangefinder

更新时间：2020-08-13

- Design of super-twisting controller for rotor vehicle based on high-order sliding mode observer with laser rangefinder
- Optics and Precision Engineering Vol. 25, Issue 12z, Pages: 18-23(2017)
- 作者机构：
  
  1. 哈尔滨工业大学航天学院, 黑龙江哈尔滨 150001
  2. 西安航天动力试验技术研究所,陕西西安,710000
  3. 中国航天科工飞航技术研究院北京,100074
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20172514.0018
  CLC： V279;V249.1
- Received：15 August 2017，
  
  Revised：01 September 2017，
  
  Published：31 December 2017
- 稿件说明：
移动端阅览
李伟, 关英姿, 晏卓等. 基于激光测距高阶滑模观测器的旋翼飞行器超螺旋控制器设计[J]. 光学精密工程, 2017,25(12z): 18-23

LI Wei, GUAN Ying-zi, YAN Zhou etc. Design of super-twisting controller for rotor vehicle based on high-order sliding mode observer with laser rangefinder[J]. Editorial Office of Optics and Precision Engineering, 2017,25(12z): 18-23
李伟, 关英姿, 晏卓等. 基于激光测距高阶滑模观测器的旋翼飞行器超螺旋控制器设计[J]. 光学精密工程, 2017,25(12z): 18-23 DOI： 10.3788/OPE.20172514.0018.

LI Wei, GUAN Ying-zi, YAN Zhou etc. Design of super-twisting controller for rotor vehicle based on high-order sliding mode observer with laser rangefinder[J]. Editorial Office of Optics and Precision Engineering, 2017,25(12z): 18-23 DOI： 10.3788/OPE.20172514.0018.

摘要

搭载激光测距仪的旋翼无人飞行器虽可提供比传统GPS或气压计测量更为精确的飞行器高度信息，但仍不能提供高度方向的速度。本文针对该种类型飞行器的高度跟踪控制问题，提出了一种高阶滑模观测器与超螺旋滑模控制器相组合的控制策略，分别对高度进行估计与控制。首先建立了旋翼飞行器高度方向的动力学模型，之后设计高阶滑模观测器对状态变量进行估计，并对超螺旋控制器进行了设计，随后提出了一种基于李亚普诺夫稳定性理论的综合控制器-观测器稳定性分析方法，保证在外部有界扰动下跟踪误差的渐近收敛性。实验结果表明，使用高阶滑模观测器提供的信息，超螺旋滑模控制器能够准确估计飞行器高度和速度，收敛时间为0.5 s。本文所设计的超螺旋滑动控制器与高阶滑模观测器的组合形式，能够实现对飞行器的高度精确控制。

Abstract

Unmanned aerial vehicles (UAVs) carrying a laser rangefinder can provide more accurate aircraft height information than conventional GPS or barometer measurements in actual flights

however

they can't provide the altitude velocity. This article addresses the problem of altitude tracking of aircrafts and proposes a control strategy based on the combination of a high-order sliding mode observer and a super-twisting sliding mode controller

which can respectively control and estimate the altitude velocity. First

the dynamic model of altitude direction of a rotor aircraft is established

then the high-order sliding mode observer is established to estimate state variables

and the super-twisting controller is designed. Then

a comprehensive stability analysis of the combined controller-observer based on the Lyapunov stability theory is presented

thus ensuring the asymptotic convergence of the tracking error under external bounded disturbances. The experimental results show that the super-twisting sliding mode controller can evaluate the altitude velocity accurately by using the information output from the high-order sliding mode observer

and the convergence time is 0.5 s. The combination of the super-twisting controller and high-order sliding mode observer can realize the accurate altitude control of aircrafts.

关键词

Keywords

references

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MUSTAPA M Z. Altitude controller design for quadcopter UAV[J]. Journal Teknologi, 2015, 74(1):181-188.

RAZINKOVA A, KANG B J, CHO H C, et al.. Constant altitude flight control for quadrotor UAVs with dynamic feedforward compensation[J]. International Journal of Fuzzy Logic and Intelligent Systems, 2014, 14(1):26-33.

WANG W, MA H, XIA M, et al.. Attitude and altitude controller design for quad-rotor type MAVs[J]. Mathematical Problems in Engineering, 2013, 2013:587098.

ALEXIS K, NIKOLAKOPOULOS G, TZES A. Model predictive quadrotor control:attitude, altitude and position experimental studies[J]. IET Control Theory & Applications, 2012, 6(12):1812-1827.

LUQUE-VEGA L, CASTILLO-TOLEDO B, LOUKIANOV A G. Robust block second order sliding mode control for a quadrotor[J]. Journal of the Franklin Institute, 2011, 349(2):719-739.

何绍溟. 基于滑模控制的精确制导技术研究[D]. 北京:北京理工大学, 2016. HE SH M. Research on Sliding Mode Control-based Precise Guidance Technology[D]. Beijing:Beijing Institute of Technology, 2016. (in Chinese)

WASLANDER S L, WANG C. Wind disturbance estimation and rejection for quadrotor position control[C]. AIAA Infotech@Aerospace Conference, AIAA, 2009:1983.

孙胜. 有限时间收敛寻的导引律[D]. 哈尔滨:哈尔滨工业大学, 2010. SUN SH. Guidance Laws with Finite Time Convergence for Homing Missiles[D]. Harbin:Harbin Institute of Technology, 2010. (in Chinese)

YAN H, JI H B. Guidance laws based on input-to-state stability and high-gain observers[J]. IEEE Transactions on Aerospace and Electronic Systems, 2012, 48(3):2518-2529.

ZHU ZH, XU D, LIU J M, et al.. Missile guidance law based on extended state observer[J]. IEEE Transactions on Industrial Electronics, 2013, 60(12):5882-5891.

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