基于扰动观测器的飞行器轨迹跟踪控制器设计

Aiming at the tracking of the three-dimensional trajectory of fixed-wing aircraft under various disturbances, a non-singular fast terminal sliding mode (TSM) trajectory tracking controller based on an improved nonlinear disturbance observer is proposed. Firstly, a three-dimensional trajectory tracking error model of the fixed-wing aircraft is derived. Considering the model error and the unknown disturbance during the flight, a nonlinear disturbance observer based on state estimation error feedback is designed to observe disturbances. Based on the non-singular fast TSM control method, the trajectory tracking controller is designed with the double power reaching law, and the stability of the closed-loop control system is proved. Simulation results show that the designed trajectory tracking controller can accurately and stably track the three-dimensional maneuvering trajectory under various disturbances.