Journal of Jilin University(Engineering and Technology Edition) ›› 2023, Vol. 53 ›› Issue (3): 883-890.doi: 10.13229/j.cnki.jdxbgxb20221313

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Finite⁃time sliding mode attitude control for coaxial tilt⁃rotor unmanned aerial vehicle

Long-long CHEN1,2(),Tian-yu FENG1,2,Zong-yang LYU1,3(),Yu-hu WU1,2   

  1. 1.Key Laboratory of Intelligent Control and Optimization for Industrial Equipment，Ministry of Education，Dalian University of Technology，Dalian 116024，China
    2.School of Control Science and Engineering，Dalian University of Technology，Dalian 116024，China
    3.School of Communications and Information Engineering，Dalian University of Technology，Dalian 116024，China
  • Received:2022-10-07 Online:2023-03-01 Published:2023-03-29
  • Contact: Zong-yang LYU E-mail:chenlonglongdlut@163.com;zongyanglv@dlut.edu.cn

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Abstract:

In order to solve the attitude control problem of the coaxial tilt-rotor unmanned aerial vehicle which is influenced by external disturbance， a finite-time sliding mode controller （FTSMC） was designed to improve the tracking performance of attitude control and the robustness under uncertain disturbance. The Newton-Euler method was used to establish the attitude dynamics model of the UAV， the power distribution was adjusted to solve the over-actuated problem of the UAV， the stability of the FTSMC was verified by using Lyapunov theory， and finally， the simulation test was utilized in the Matlab/SimMechanics platform to verify the performance of the proposed controller.

Key words: control theory and control engineering, coaxial tilt-rotor, unmanned aerial vehicle, finite-time sliding mode controller（FTSMC）, attitude control

CLC Number: 

  • V279

Fig.1

Reference frame for a coaxial tiltrotor unmanned aerial vehicle"

Table 1

Structural parameters"

参 数数值
dxL，dxR，dxB/m0.078，0.078，-0.24
dyL，dyR/m0.151，-0.151
Ixx /（kg·m2）1.1×10-2
Iyy /（kg·m2）8.959×10-2
Izz /（kg·m2）1.6981×10-2
b/（N·s2·rad-2）9.6×10-6
k/（N·m·s2·rad-2）2.4×10-7

Fig.2

Attitude tracking of coaxial tilt rotor UAV"

Fig.3

Attitude tracking error"

Fig.4

Control input in attitude tracking"

Fig.5

Variation of tilt angles during attitude tracking"

Fig.6

Simulation with Matlab/SimMechanics"

Table 2

Performance of attitude tracking"

性能上升时间/s最大超调量稳定时间/s震荡幅值/（°）
参数PIDFTSMCPIDFTSMCPIDFTSMCPIDFTSMC
滚转角0.380.2003.1%0.580.295.460.25
俯仰角0.380.18017.2%0.610.496.090.3
偏航角0.280.233.9%25.6%0.460.783.751.44
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