青岛理工大学学报

针对植保无人机姿态控制系统在农业、林业作业时易受到外界干扰以及自身参数不确定的问题，设计了一种内外环滑模控制策略。根据植保无人机系统欠驱动特性将系统分为位置外环控制系统和姿态内环控制系统。基于滑模自适应控制法设计了位置外环控制器，用来解决植保无人机作业时易受干扰的问题，同时，引入饱和函数减少位置外环系统抖振，并加入映射自适应算法，修正系统的自适应量，防止出现控制输入过大现象。利用积分滑模函数和指数趋近律控制设计姿态内环控制器，可实现系统有限时间收敛，并加强了系统稳定性。利用Lyapunov函数证明了系统稳定性，并通过仿真和实验验证了方案的可行性。

A sliding mode control strategy for the inner and outer loop is designed to address the issues of external disturbances and uncertain parameters in the attitude control system of plant protection unmanned aerial vehicles(UAVs)during agricultural and forestry operations.The plant protection UAV system is divided into a position outer loop control system and an attitude inner loop control system based on its underactuated characteristics.A position outer loop controller is designed using sliding mode adaptive control to tackle the issue of disturbances during UAV operations.Additionally,a saturation function is introduced to reduce the chattering of the position outer loop system,and a mapping adaptive algorithm is incorporated to correct the adaptive quantity of the system,preventing the occurrence of excessive control input.An attitude inner loop controller is designed using an integral sliding mode function and exponential convergence law control,which enables the system to converge in finite time and enhances system stability.The stability of the system is proven by using Lyapunov function,and the feasibility of the proposed approach is validated through simulations and experiments.