关键词: 森林巡防, 无人飞艇, 轨迹跟踪, 滑模控制

Abstract:

To achieve unmanned airship trajectory tracking control when patrol in the forest and the airship flight movement is nonlinear, coupling, etc., a sliding mode control method is proposed. First, the accurate mathematical model of airship is deduced based on Newton's second law and other theorem, and by selecting the state vector and control vector, its mathematical model can be described as the nonlinear control systems. Nolinear system is simplified to linear system by Taylor series expansion, and the sliding mode control law is designed, while using saturation function suppressed chattering problem of sliding mode control. Finally, the designed control system stability is proved by Lyapunov stability theory. As can be seen from the simulation curves, the effect of trajectory tracking is more ideal, it can achieve the unmanned airship desired trajectory for accurate tracking.

Key words: forest patrol, unmanned airship, trajectory tracking, sliding mode control