基于滑模变结构的无人直升机着舰控制研究

针对无人直升机着舰的特殊性，克服系统摄动、未建模动态及大气紊流的影响，提高舰载无人直升机着 舰的安全性和精度，基于滑模控制的方法分别设计了着舰控制系统的轨迹跟踪控制律和姿态控制律。采用基于输出 有界的twisting 控制器，通过轨迹跟踪算法保证生成有界的期望姿态角和总距；姿态部分采用小扰动线性化后的姿 态回路控制方程，设计了模型参考自适应滑模控制器，通过自适应项抵消外界干扰造成的误差，利用Lyapunov 稳定 性理论证明了系统的稳定性和跟踪误差收敛；通过仿真进行了实验验证。验证结果表明：所设计的控制器能够满足 无人直升机抗扰动和模型参数摄动的要求，并且设计方法简单，鲁棒性强，易于工程实现。

Study of Landing Control of Unmanned Helicopter Based onSliding Mode Variable Structure

Aiming at the particularity of the unmanned helicopter landing carrier, to overcome the system perturbations, un-modeled dynamics and the influence of atmospheric turbulence, improve carrier-based unmanned helicopter safety and accuracy of the ship landing, based on sliding mode control method, respectively design the control system of trajectory tracking control law and the attitude control law. The position controller is based on the output bounded twisting controller, and the trajectory tracking algorithm is used to guarantee the generation of bounded expected attitude angle and the total distance. The attitude part adopts the attitude loop control equation with the small perturbation linearization, and the model reference adaptive sliding mode controller is designed, the error caused by the external interference is offset by the adaptive term, and the stability of the system and the convergence of tracking error are proved by the Lyapunov stability theory. The experiment is verified by simulation. The results show that the designed controller can satisfy the requirement of disturbance and model parameter perturbation of unmanned helicopter, and the design method is simple, robust and easy to be realized by engineering.