快速super twisting 算法及其在飞翼布局无人机姿态控制上的应用

通过在super twisting 算法中增加线性项, 提出一种快速super twisting 算法, 并采用Lyapunov 方法证明了受扰快速super twisting 算法具有比受扰super twisting 算法更优良的收敛特性. 将该算法应用于存在干扰的飞翼布局无人机姿态控制, 设计快速super twisting 观测器以实现对干扰的快速估计和补偿. 仿真结果表明, 在相同的控制器参数下, 相比super twisting 观测器, 快速super twisting 观测器的收敛速度更快, 可提高姿态控制系统的鲁棒性.

Fast super twisting algorithm and its application to attitude control of flying wing UAV

A fast super twisting algorithm is proposed to improve the convergence properties of the super twisting algorithm with increasing the linear term.The convergence properties of the fast super twisting algorithm are investigated by means of the Lyapunov method. The algorithm is applied to the flying wing UAV attitude control system, and a fast super twisting disturbance observer is designed to estimate and compensate for disturbances. Simulation results show that the fast super twisting disturbance observer is faster than the super twisting disturbance observer with the same controller parameters, and can effectively improve the robustness of the attitude control system.