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通过在super twisting算法中增加线性项,提出一种快速super twisting算法,并采用Lyapunov方法证明了受扰快速super twisting算法具有比受扰super twisting算法更优良的收敛特性.将该算法应用于存在干扰的飞翼布局无人机姿态控制,设计快速super twisting观测器以实现对干扰的快速估计和补偿.仿真结果表明,在相同的控制器参数下,相比super twisting观测器,快速super twisting观测器的收敛速度更快,可提高姿态控制系统的鲁棒性.
By adding linear terms to the super twisting algorithm, a fast super twisting algorithm is proposed and the Lyapunov method is used to prove that the super fast twisting algorithm has better convergence than the super twisting algorithm. The algorithm is applied to the existence of interference The flight attitude of the flying wing UAV is designed and the fast super twisting observer is designed to realize the rapid estimation and compensation of the disturbance.The simulation results show that compared with the super twisting observer under the same controller parameters, The convergence speed is faster, which can improve the robustness of attitude control system.