Deicing unmanned aerial vehicle pose integrated super-spiral sliding mode control method

Abstract

The invention relates to a deicing unmanned aerial vehicle pose integrated super-spiral sliding mode control method. The method comprises the following steps: establishing a deicing unmanned aerial vehicle dynamics and kinematics model; establishing a disturbance model for wind field disturbance and ice layer collision impact suffered by the deicing unmanned aerial vehicle; by introducing dual quaternion and modified Rodrigues parameters, a deicing unmanned aerial vehicle dynamics and kinematics model and a disturbance model are described based on the dual modified Rodrigues parameters, and a deicing unmanned aerial vehicle pose integrated model based on the dual modified Rodrigues parameters is established; constructing a position and posture integrated super-spiral sliding mode controller, wherein the controller comprises a sliding mode surface and a super-spiral reaching law; and a pose integrated control law is constructed, and the control force spiral of the deicing unmanned aerial vehicle is calculated, so that pose integrated stable control of the deicing unmanned aerial vehicle is realized. According to the method, disturbance of the deicing unmanned aerial vehicle in task execution can be effectively inhibited, and the precision and robustness of pose control of the deicing unmanned aerial vehicle in a complex environment are improved.

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