An Anti-Disturbance Attitude Control Method for Fixed-Wing Unmanned Aerial Vehicles Based on an Integral Sliding Mode Under Complex Disturbances During Sea Flight
Abstract
:1. Introduction
- A double-loop integral sliding mode control (ISMC) system is developed to accommodate attitude control amidst parameter uncertainties, such as fuel consumption during flight. An additional DO is integrated into the inner loop to estimate unpredictable external factors like sea-level wave disturbances. This composite integral sliding mode control based on disturbance observer (ISMC-DO) system not only achieves precise attitude control, but also fortifies the resistance of the UAV to external disturbances. The two-degrees-of-freedom controller predicated on ISMC-DO can effectively observe low-altitude wave disturbances, refine attitude tracking accuracy, and simultaneously ensure optimal tracking and anti-disturbance performance.
- While most studies traditionally rely on constant or square-wave instructions for attitude tracking, this paper diverges by employing ISMC-DO combined with the quaternion theory to track complex combat maneuver commands. To circumvent the singularity issues encountered during large-angle maneuvers, an outer loop for quaternion attitude control is formulated to acquire the desired angular velocity. Through extensive attitude tracking and aerobatic maneuver experiments, this paper validates the feasibility of executing complex combat maneuvers, such as looping, the split-S, and the Immelmann turn, thereby providing a theoretical and practical underpinning for high-precision combat maneuver tracking.
2. Model Description
2.1. Modeling of Fixed-Wing UAV
2.2. Control Goal
- Initially, we introduce a double-closed-loop ISMC system designed to mitigate model uncertainties and decouple the relationships among the triad of attitude angles. Namely, the control goals are , , so as to achieve and , where is the desired attitude angle vector, is the desired angular velocity vector, is the sliding surface of the attitude angle control loop, and is the sliding surface of the angular velocity control loop.
- In consideration of the impact that sea-level wave disturbances have on low-altitude attitude tracking, a DO is incorporated to estimate these unknown disturbances. Let the disturbance estimated by DO be . The goal of the DO is to minimize the estimation error .
- Finally, to ensure accurate tracking of specialized combat maneuvers, the challenges of singularity in large-angle maneuvers are addressed through the adoption of the quaternion theory for the outer loop of the attitude control system. Let the quaternion describe the attitude, and the desired quaternion be . The quaternion tracking error is . The control goal is that within the completion time of the large-angle maneuver, , where is a given small positive number.
3. An Anti-Disturbance Attitude Control Method Based on ISMC-DO and Quaternions for Large-Angle Maneuvering Problems
3.1. Design of Integral Sliding Mode Controller Based on Disturbance Observer
3.2. Attitude Controller Based on Quaternions for Combat Maneuvers
3.3. Stability Analysis
4. Simulation
4.1. Anti-Disturbance Attitude Control of Fixed-Wing UAVs Under Sea-Level Low-Altitude Flight
4.2. Anti-Disturbance Attitude Control of Fixed-Wing UAVs Under Large-Angle Maneuvering
4.2.1. Simulation of Attitude Control of “Looping”
4.2.2. Simulation of Attitude Control of “Split-S”
4.2.3. Simulation of Attitude Control of “Pougatcheff Cobra Maneuver”
4.2.4. Simulation of Attitude Control of “Immelmann Turn”
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Parameter | Symbol | Value | Unit |
---|---|---|---|
Quality | 9296.13 | ||
Pneumatic reference area | 27.64 | ||
Average aerodynamic chord length | 3.37 | ||
Reference wingspan | 9.232 | ||
Moment of inertia of pitch axis | 12,875.2 | ||
Moment of inertia of roll axis | 75,674.1 | ||
Moment of inertia of yaw axis | 85,552.7 | ||
Pitch axis inertia matrix change | 800 | ||
Roll axis inertia matrix change | 900 | ||
Yaw axis inertia matrix change | 1000 |
Parameter | Location Limit | Unit | Rate limit | Unit |
---|---|---|---|---|
Elevator | ||||
Aileron | ||||
Rudder | ||||
Leading edge flap |
Parameter | Symbol | Value |
---|---|---|
Parameters of ISMC inner loop | ||
6.5 | ||
Parameters of ISMC outer loop | ||
2 | ||
Parameters of DO | 3 | |
5 |
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Sui, S.; Yao, Y.; Zhu, F. An Anti-Disturbance Attitude Control Method for Fixed-Wing Unmanned Aerial Vehicles Based on an Integral Sliding Mode Under Complex Disturbances During Sea Flight. Drones 2025, 9, 164. https://doi.org/10.3390/drones9030164
Sui S, Yao Y, Zhu F. An Anti-Disturbance Attitude Control Method for Fixed-Wing Unmanned Aerial Vehicles Based on an Integral Sliding Mode Under Complex Disturbances During Sea Flight. Drones. 2025; 9(3):164. https://doi.org/10.3390/drones9030164
Chicago/Turabian StyleSui, Shuaishuai, Yiping Yao, and Feng Zhu. 2025. "An Anti-Disturbance Attitude Control Method for Fixed-Wing Unmanned Aerial Vehicles Based on an Integral Sliding Mode Under Complex Disturbances During Sea Flight" Drones 9, no. 3: 164. https://doi.org/10.3390/drones9030164
APA StyleSui, S., Yao, Y., & Zhu, F. (2025). An Anti-Disturbance Attitude Control Method for Fixed-Wing Unmanned Aerial Vehicles Based on an Integral Sliding Mode Under Complex Disturbances During Sea Flight. Drones, 9(3), 164. https://doi.org/10.3390/drones9030164