关键词: 扑翼飞行器, 终端滑模控制, 自适应加权趋近律, 姿态控制

Abstract: According to the principle of time scale separation, a terminal sliding mode control method is proposed based on adaptive weighted reaching law to solve the attitude control problem of flapping-wing aircraft with high nonlinearity, internal model parameter disturbance and external disturbance. The inner and outer loop sliding mode controllers are designed by the length of adjustment time. An adaptive weighted reaching law is designed, which combines the advantages of power and exponential reaching law to eliminate chattering and improve the tracking speed of the system. The adaptive control method is used to estimate the model parameter disturbance on-line, which compensates the output of the sliding mode controller and reduces the steady-state error of the system. The simulation results show that the adaptive terminal sliding mode control not only eliminates the sliding mode chattering problem, but also effectively overcomes the impact of external and internal disturbances.

Key words: Flapping-wing aircraft, terminal sliding mode control, adaptive weighted reaching law, attitude control