关键词: 双幂次, 双曲函数, 趋近律, 积分滑模控制, 共轴双旋翼无人机

Abstract:

To address the issues of significant chattering, slow convergence speed, and large overshoot in the control system of a coaxial dual-rotor unmanned aerial vehicle, a control method based on an improved double-power and hyperbolic function integral sliding mode reaching law was proposed. A novel reaching law was designed to achieve fast convergence when the system state is far from the sliding surface and smooth transition when approaching the sliding surface, thereby enhancing the overall convergence speed of the system and ensuring that the system reaches the sliding surface within a finite time. The saturation characteristic of the hyperbolic function was utilized to constrain the amplitude of the control signal and suppress the chattering phenomenon, and an integral term was introduced to eliminate steady-state errors and enhance the anti-interference and robustness of the system. The results show that compared with traditional sliding mode control and integral sliding mode control, the proposed algorithm exhibits superior performance in terms of chattering intensity, response speed, and overshoot, improving the dynamic quality and robustness of the coaxial dual-rotor unmanned aerial vehicle control system.

Key words: double power, hyperbolic function, reaching law, integral sliding mode control, coaxial dual-rotor unmanned aerial vehicle