Cascaded fast terminal sliding mode control for UAV electric braking system

无人机全电刹车系统级联快速终端滑模控制

School of Automation, Northwestern Polytechnical University, Xi'an 710072, China

Received: 10 May 2022

Abstract

The anti-skid braking system of unmanned aerial vehicle has the characteristics of high-order nonlinearity, strong coupling, and time-varying parameters, which will seriously affect the taxiing performance of the unmanned aerial vehicle. This paper proposed a cascaded fast terminal sliding mode control method for unmanned aerial vehicle electric braking system, which can accurately track the optimal slip rate and ensure the stability of the braking system. First, the electric braking system model of unmanned aerial vehicle is established, which gets rid of the reliance on the ground binding coefficient fitting formulas. Second, combined with the concept of the inversion control, the cascaded fast terminal sliding mode controller is designed to achieve the accurate tracking of the slip rate and the reference braking force. The stability of the controller is proved by the Lyapunov stability theory. Finally, the effectiveness of the proposed control strategy is verified by simulation results.

摘要

无人机防滑刹车系统具有高阶非线性、强耦合以及参数时变性等特点, 会对无人机的地面滑跑性能造成不利影响。提出了一种无人机全电防滑刹车系统快速终端滑模控制方法, 实现对最佳滑移率的准确跟踪, 并保证刹车系统的稳定性。建立了无人机全电刹车系统整体模型, 在控制器设计过程中避免了对地面结合系数拟合公式的依赖。结合反演控制的思想, 逐级设计了快速终端滑模控制器实现对滑移率以及刹车压力参考值的精确跟踪, 并通过Lyapunov稳定性理论证明了控制器的稳定性。通过仿真测试验证了所提出控制策略的有效性。