CAJ | 학술논문

针对固定翼无人机（unmanned aerial vehicles，UAVs）自主着陆过程中的航迹角跟踪控制问题，提出了一种非线性增益递归滑模控制方法。通过引入一个新的非线性增益函数，并设计含有积分项的递归滑模面，在保证航迹角跟踪控制精度的同时有效改善了控制系统的动态品质，克服了常规动态面控制（dynamic surface con-trol，DSC）方法对于量测噪声敏感、容易引起执行器饱和的缺点。理论证明了所得航迹角跟踪控制系统所有状态半全局一致最终有界，航迹角跟踪误差可以收敛至原点的指定小邻域，且对于非时变干扰和常值指令不存在稳态跟踪误差。在 YF-22模型机上进行的数值仿真验证了本文方法的优越性。
침대고정익무인궤（unmanned aerial vehicles，UAVs）자주착륙과정중적항적각근종공제문제，제출료일충비선성증익체귀활모공제방법。통과인입일개신적비선성증익함수，병설계함유적분항적체귀활모면，재보증항적각근종공제정도적동시유효개선료공제계통적동태품질，극복료상규동태면공제（dynamic surface con-trol，DSC）방법대우량측조성민감、용역인기집행기포화적결점。이론증명료소득항적각근종공제계통소유상태반전국일치최종유계，항적각근종오차가이수렴지원점적지정소린역，차대우비시변간우화상치지령불존재은태근종오차。재 YF-22모형궤상진행적수치방진험증료본문방법적우월성。
For the flight-path angle tracking control of fixed-wing unmanned aerial vehicles (UAVs)during the landing phase,a recursive sliding mode control method with nonlinear gains is proposed.By introducing a new function with nonlinear gains and developing recursive siding mode surface with integral action,the control-ler can guarantee precise tracking of flight-path angle as well as better dynamic transient performance of the con-trol system,and it overcomes the troubles of conventional dynamic surface control (DSC)such as fragile to the measurement noise,and easy to cause actuator saturation.Theory analysis proves that all the signals of the re-sulting flight-path angle control system are semi-global uniform ultimately bounded;the tracking error of the flight-path angle can converge to an arbitrary small neighborhood of the origin and,for time invariant disturb-ance and constant reference command signal,there is no steady-state error.The numeric simulations on the YF-22 plant mode validate the effectiveness of the proposed approach.