CAJ | 학술논문

考虑到小型无人直升机在飞行过程中存在的不确定对无人直升机飞行控制性能的影响，设计了一种基于滑模的非线性鲁棒控制器。首先分析了悬停平衡条件下小型无人直升机的数学模型，然后通过设计滑模面，并结合标称系统的反馈增益，获得了滑模面的设计参数。在此基础上设计了基于指数趋近律的滑模控制器，并利用Lyapunov理论对整个系统的稳定性进行了分析。最后的仿真结果表明：给出的滑模控制策略能够有效地处理模型参数不确定对无人直升机飞行控制性能的影响，验证了该控制策略的有效性。
고필도소형무인직승궤재비행과정중존재적불학정대무인직승궤비행공제성능적영향，설계료일충기우활모적비선성로봉공제기。수선분석료현정평형조건하소형무인직승궤적수학모형，연후통과설계활모면，병결합표칭계통적반궤증익，획득료활모면적설계삼수。재차기출상설계료기우지수추근률적활모공제기，병이용Lyapunov이론대정개계통적은정성진행료분석。최후적방진결과표명：급출적활모공제책략능구유효지처리모형삼수불학정대무인직승궤비행공제성능적영향，험증료해공제책략적유효성。
In view that the uncertainty of the small unmanned helicopter in flight could influence its flight control performance, a nonlinear robust control strategy based on sliding mode control is proposed. At first, the mathematical model of the small unmanned helicopter is analyzed under equilibrium conditions in hover. Then a sliding mode surface is designed whose parameters are obtained from the feedback gain of the nominal system. The sliding mode control law is designed based on the index reaching law, and the whole system’s stability is analyzed by using Lyapunov theory. Simulation results show that the sliding mode control strategy can effectively deal with the parameter uncertainty’s influence on unmanned helicopter’s flight control performance, and verifies the effectiveness of the control strategy.