面向小型无人机导航的滑模控制算法研究

Design of Navigation Algorithm for Small UAV Based on Sliding Mode Control

中文关键词:  无人机  自主飞行  平面导航  滑模控制

英文关键词:UAV  autonomous flight  horizontal navigation  sliding mode control

中文摘要:

      设计一种简单、高效、稳健的导航算法对无人机来说非常重要。分析了无人机的运动学和动力学特性，提出了一种基于滑模控制理论的非线性导航算法。针对滑模控制中出现的抖振问题，重新进行了控制律设计，并对制导参数进行了优化。实际测试结果表明，所提出的导航控制算法具有良好的性能指标，可跟踪任意航路点，可实现无人机自主飞行。

英文摘要:

      How to design a simple,efficient and robust navigation algorithm is significant for UAVs.The kinematic and dynamic properties of UAVs are analyzed,and a nonlinear navigation algorithm is proposed based on the theory of sliding mode control.In order to solve the chattering problem in sliding mode control,the control law is redesigned and the navigation parameters are optimized.The experimental results illuminate the proposed guidance scheme has achieved satisfying performance and can track arbitrary waypoint in automatic flight.