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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >System Identification-Based Sliding Mode Control for Small-Scaled Autonomous Aerial Vehicles With Unknown Aerodynamics Derivatives
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System Identification-Based Sliding Mode Control for Small-Scaled Autonomous Aerial Vehicles With Unknown Aerodynamics Derivatives

机译：具有未知空气动力学导数的小型自动飞行器基于系统识别的滑模控制

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摘要

This paper proposes an autonomous system identification methodology for fixed wing autonomous aerial vehicles (AAVs) and implementation with a robust control technique. This system identification methodology does not require the user to provide any knowledge of the aerodynamic derivatives of the AAV. Hence, this control methodology is applicable to a wide range of fixed-wing AAVs. Since the system identification process generates errors due to the measurement noise and external disturbances, a robust control methodology, sliding mode control (SMC), is proposed to control the AAV based on the system identification results. To characterize the capability of the control methodology, experiments have been conducted on commercially available fixed-wing aircraft platforms using low-cost sensing equipment. Experimental results demonstrate that the autonomous system identification-based SMC enables the AAV to follow the desired trajectory without prior knowledge of the aerial vehicle or manual tuning of control system parameters.
机译：本文提出了一种用于固定翼自动驾驶飞机（AAV）的自动系统识别方法，并提出了一种鲁棒的控制技术。该系统识别方法不需要用户提供AAV的气动衍生知识。因此，这种控制方法适用于多种固定翼AAV。由于系统识别过程会由于测量噪声和外部干扰而产生错误，因此，基于系统识别结果，提出了一种鲁棒的控制方法，即滑模控制（SMC）来控制AAV。为了表征控制方法的能力，已经在市场上使用低成本传感设备的固定翼飞机平台上进行了实验。实验结果表明，基于自动系统识别的SMC使AAV能够遵循所需的轨迹，而无需事先了解飞行器或手动调整控制系统参数。

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