Attitude control of flapping-wing aircraft based on double-loop sliding mode

LIU Xiao; ZHANG Yan-hui; FENG Wei; FAN Ke-feng; Mo Wei

Chinese

您当前的位置：

首页 >

文章列表页 >

Attitude control of flapping-wing aircraft based on double-loop sliding mode

更新时间：2026-09-04

- Attitude control of flapping-wing aircraft based on double-loop sliding mode
- Vol. 36, Issue 12, Pages: 58-63(2019)
- 作者机构：
  
  1. 桂林电子科技大学电子工程与自动化学院,广西,桂林,541004
  2. 中国科学院深圳先进技术研究院,广东,深圳,518055
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2019
- 稿件说明：
移动端阅览
刘笑, 张艳辉, 冯伟, 范科峰, 莫玮. 基于双环滑模变结构的扑翼姿态控制[J]. 微电子学与计算机, 2019, 36(12): 58-63.

LIU Xiao, ZHANG Yan-hui, FENG Wei, et al. Attitude control of flapping-wing aircraft based on double-loop sliding mode[J]. 2019, 36(12): 58-63.
刘笑, 张艳辉, 冯伟, 范科峰, 莫玮. 基于双环滑模变结构的扑翼姿态控制[J]. 微电子学与计算机, 2019, 36(12): 58-63. DOI：

LIU Xiao, ZHANG Yan-hui, FENG Wei, et al. Attitude control of flapping-wing aircraft based on double-loop sliding mode[J]. 2019, 36(12): 58-63. DOI：

摘要

概括针对扑翼飞行器这类模型不精确的非线性系统

提出了一种能实现扑翼飞行器的姿态控制方法.由于外部复杂环境带来的各种干扰和模型不确定性

基于滑模变结构控制实现了一种双环跟踪调节的姿态控制

其中还引入了李雅普诺夫函数.在扑翼状态下

顺利达成俯仰、偏航、滚转等目标姿态

并通过内外环设计克服了传统滑模控制的开关函数引起的抖振问题.MATLAB仿真结果表明该控制方式能迅速减小欧拉角偏差

改善动态响应特性、具有良好的鲁棒性且提高了姿态调整的精确性.

Abstract

Aiming at the imprecise nonlinear systems such as flapping-wing aircraft

a method of attitude control for flapping-wing aircraft is proposed. Due to the disturbance caused by the complex environment and the uncertainty of the system

a dual loop tracking and adjusting attitude control based on sliding mode variable structure control is implemented

in which Lyapunov function is also introduced. In the flapping wing state

the goal posture such as pitch

yaw

roll and so on is achieved smoothly. The buffeting problem caused by the switching function of the traditional sliding mode control is overcome by the inner and outer loop design. The MATLAB simulation results show that the control method can rapidly reduce the Euler angle deviation and improve the dynamic response characteristics. It has good robustness and improves the accuracy of attitude adjustment.

关键词

Keywords

references

HU S B, YIN J F. Fuzzy Nonsingular Terminal Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle[J]. Applied Mechanics and Materials, 2014, 716-717:1694-1698. DOI: 1694

张小林.小型飞行器测控计算机系统的容错设计[J].微电子学与计算机, 2003, 20(2):22-23. DOI: 22

王猛.水下自治机器人底层运动控制设计与仿真[D].青岛: 中国海洋大学, 2009.

LU W H, HU S B, WEI J, et al. Fuzzy Adaptive Terminal Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle[J]. Advanced Materials Research, 2013, 605-607:5. DOI: 5

李航, 何广平, 毕富国.一类微型扑翼飞行器的滑模自适应姿态控制[J].空间控制技术与应用, 2018, 44(5):81-88. DOI: 81

BLUMAN J E, KANG C K, SHTESSEL Y. Control of a Flapping-Wing Micro Air Vehicle: Sliding-Mode Approach[J]. Journal of Guidance Control % Dynamics, 2018, 41(8):1-7. DOI: 1

刘明亮, 崔宇佳, 张一迪, 等.基于多传感器数据融合的姿态控制与应用[J].微电子学与计算机, 2017, 34(7):65-69. DOI: 65

陈筱, 张琰.飞行轨迹偏离误差反馈控制数学模型仿真[J].微电子学与计算机, 2017, 34(6):104-108. DOI: 104

TRAN X T, OH H, KIM I R, et al. Attitude stabilization of flapping micro-air vehicles via an observer-based sliding mode control method[J]. Aerospace Science and Technology, 2018:S1270963817317315. DOI: S1270963817317315

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Implementation and verification of a dual-chain power gating strategy for low power design

Design of ultra-low power real-time clock circuits

Research on the design of blockchain-based AI-generated content traceability framework

High gain stability high temperature operational amplifier based on reverse body bias

Research on assembly action recognition based on MSS-YOLO-MPHands fusion architecture

Related Author

No data

Related Institution

No data

AI问答

Postal code：100079
Tel：（010）53879206 Email：tmw@bjxintong.com.cn
Technical support is provided by Beijing Founder electronics co., LTD 京ICP备09082226号-64 京公网安备11010602201714号
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰