引用本文:闫林,李鹏,何家兴,张钊.时变质量双涡喷构型无人机建模与轨迹跟踪[J].控制理论与应用,2026,43(3):460~470.[点击复制]
YAN Lin,LI Peng,HE Jia-xing,ZHANG Zhao.Modelling and sliding mode-based trajectory tracking control of a dual-jet UAV with time-varying mass[J].Control Theory & Applications,2026,43(3):460~470.[点击复制]
时变质量双涡喷构型无人机建模与轨迹跟踪
Modelling and sliding mode-based trajectory tracking control of a dual-jet UAV with time-varying mass
摘要点击 717  全文点击 134  投稿时间：2023-10-07  修订日期：2025-10-28
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DOI编号  10.7641/CTA.2024.30663
  2026,43(3):460-470
中文关键词  双涡喷发动机  无人机  时变质量  建模  轨迹跟踪  自适应滑模
英文关键词  dual-jet  unmanned aerial vehicle  time-varying mass  modelling  trajectory tracking  adaptive sliding mode
基金项目  国家自然科学基金项目(62373201)资助.
作者单位E-mail
闫林 国防科技大学智能科学学院 yeln.w@outlook.com 
李鹏* 国防科技大学智能科学学院 lipeng_2010@163.com 
何家兴 国防科技大学智能科学学院  
张钊 国防科技大学智能科学学院  
中文摘要
      针对一类以双涡喷发动机作为矢量推力系统的无人机(DJUAV)轨迹跟踪问题,本文提出了一种在模型时变 质量条件下的自适应滑模控制方法.首先,对一般飞行器的六自由度模型在时变质量的条件下加以扩展,建立时变 质量飞行器的数学模型.其次,对所设计矢量推力机构制定分配策略,以满足控制系统力与力矩的需要.在此基础 上, 设计一种自适应滑模控制器,保证系统面对自身时变质量所带来的模型不确定性,能够实现期望轨迹的跟踪,并 且位置跟踪误差渐近收敛到零.最后,仿真验证了所建立数学模型的可行性与控制器的有效性.
英文摘要
      This paper proposes an adaptive sliding mode control method to address the trajectory tracking problem encountered by a specific type of unmanned aerial vehicle– dual-jet unmanned aerial vehicle (DJUAV) equipped with a dual-jet vector thrust system, particularly under the condition of time-varying mass. Firstly, by extending the six-degree of-freedom model of general aircraft to account for time-varying mass conditions, the mathematical model for the DJUAV is established. Secondly, an allocation strategy for the designed vector thrust mechanism is devised to meet the force and torque requirements of the control system. On this basis, an adaptive sliding mode controller is developed to enable the system to accurately track the desired trajectory, even in the presence of model uncertainties arising from the time-varying mass. The controller ensures asymptotic convergence of the position tracking error to zero. Finally, simulation results validate the feasibility of the mathematical model and demonstrate the effectiveness of the proposed controller.