首页> 外文会议>International Conference on Unmanned Aircraft Systems >Robust Reduced-Attitude Control of Fixed-Wing UAVs Using a Generalized Multivariable Super-Twisting Algorithm**This work was funded by the Resarch Council of Norway through the Centres of Excellence funding scheme, grant no. 223254 NTNU AMOS, and grant no

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Robust Reduced-Attitude Control of Fixed-Wing UAVs Using a Generalized Multivariable Super-Twisting Algorithm**This work was funded by the Resarch Council of Norway through the Centres of Excellence funding scheme, grant no. 223254 NTNU AMOS, and grant no

机译：使用广义多变量超扭曲算法的固定翼无人机的强大减少态度控制**这项工作由挪威Resarch理事会通过卓越资金计划，授予NO。 223254 NTNU AMOS，并授予否

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Operation of fixed-wing unmanned aerial vehicles (UAVs) outside their nominal operating conditions require autopilots that can effectively compensate for highly uncertain aerodynamics, and coupled disturbances due to turbulent winds. In this paper, we propose to use a generalized multivariable super-twisting algorithm to solve the robust attitude control problem for fixed-wing UAVs. A sliding surface is designed, based on geometric methods, to perform reduced-attitude tracking while simultaneously stabilizing a turn rate based on the coordinated-turn equation. The reduced-attitude representation evolves on the unit two-sphere and is independent of the yaw/heading angle. The resulting control design is lightweight, has no singularities, and can be used with standard hierarchical control architectures for fixed-wing UAVs. The efficacy of the proposed design is demonstrated in a simulation study with highly turbulent conditions.

机译：固定翼无人驾驶车辆（无人机）的操作在其标称操作条件之外需要自动驾驶仪，其可以有效地补偿高度不确定的空气动力学，并且由于湍流引起的耦合扰动。在本文中，我们建议使用广义多变量的超级扭曲算法来解决固定翼UAV的鲁棒态度控制问题。基于几何方法设计滑动表面，以执行减小姿态跟踪，同时基于协调转型等式稳定匝数率。减小姿态表示在单位两端的情况下发展，并且与偏航/标题角度无关。由此产生的控制设计是重量轻，没有奇点，可与标准分层控制架构用于固定翼UAV。在具有高湍流条件的模拟研究中证明了所提出的设计的功效。

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《International Conference on Unmanned Aircraft Systems》|2021年|454-464|共11页
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Erlend M. Coates; Jenny Bogen Griffiths; Tor Arne Johansen;
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Attitude control; Aerodynamics; Unmanned aerial vehicles; Time measurement; Autopilot; Trajectory; Mathematical model;

机译：姿态控制;空气动力学;无人驾驶飞行器;时间测量;自动驾驶仪;轨迹;数学模型;

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Robust Reduced-Attitude Control of Fixed-Wing UAVs Using a Generalized Multivariable Super-Twisting Algorithm**This work was funded by the Resarch Council of Norway through the Centres of Excellence funding scheme, grant no. 223254 NTNU AMOS, and grant no

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