基于分数阶滑模的四旋翼无人机抗风扰控制OA

In this study,a dual-closed-loop fractional-order sliding mode control(FOSMC)algorithm is designed to address the wind field disturbances during UAV trajectory tracking.A mathematical model of the wind field is established and integrated it into the UAV dynamics model to characterize external perturbations.The proposed FOSMC introduces fractional-order differential operators into both the sliding mode surface and convergence law,thereby enhancing the control flexibility and robustness of the system.At the same time,the supporting application of nonlinear disturbance observer is used for wind disturbance adaptive compensation,and the control parameters are automatically tuned with the help of intelligent optimization algorithm.The simulation results show that,under wind disturbance conditions,the proposed algorithm exhibit superior robustness and tracking performance compared to conventional sliding mode control(SMC)and PID algorithms,confirming its effectiveness in the complex wind field environment.