为了实现在复合干扰下六旋翼无人机编队的稳定飞行, 提出了一种快速终端滑模鲁棒控制方法。首先,描述了领导-跟随编队拓扑结构并建立了六旋翼无人机的6自由度运动模型, 然后, 设计了编队外环控制律将编队指令转换为姿态指令, 并通过设计编队内环控制律解算得到旋翼转速指令, 最后, 引入自适应律来估计复合干扰, 实现了六旋翼无人机编队的稳定飞行。仿真实验结果表明: 所提方法与滑模控制方法相比能够更加快速地实现六旋翼无人机的编队稳定飞行, 最大轨迹误差仅为0.2 m, 复合干扰最大估计误差仅为0.1 m/s2, 表现出了更优的控制效果。

In order to realize the stable flight of six-rotor UAV formation under compound interference,a fast terminal sliding mode robust control method is proposed.Firstly,the topology of the leader-follower formation is described,and the 6 degrees-of-freedom motion model of six-rotor UAV is established.Then,the formation outer loop control law is designed to convert the formation command into the attitude command,and the rotor speed command is obtained by designing the formation inner loop control law.Finally,the adaptive law is introduced to estimate the compound interference,which realizes the stable flight of the six-rotor UAV formation.The simulation results show that compared with the sliding mode control method,the proposed method can realize the stable flight of six-rotor UAV formation more quickly,and the maximum trajectory error is only 0.2 m,and the maximum estimation error of compound interference is only 0.1 m/s2,which shows better control effect.