Aiming at the position and attitude tracking of coaxial rotor aircraft (CRA), this paper proposes a combinatorial control method of sliding mode control (SMC) coupled with proportional-integral-derivative control (PIDC). Considering the complete description of flight dynamics, aerodynamics and airflow interference, the dynamical model of CRA is established. The dynamical model is simplified according to the actual flight, then the simplified dynamical model is divided into two subsystems: a fully-actuated subsystem and an under-actuated subsystem. The controller of the fully-actuated subsystem consists of a SMC controller coupled with a rate bounded PIDC controller, while the controller of the under-actuated subsystem is composed of a SMC controller. The sliding manifold is defined by combining the position and velocity tracking errors of the state variables for each subsystem. Lyapunov stability theory is used to verify the stability of the sliding mode controller, which ensures that all state trajectories of the system can reach and stay on the sliding mode surface, the uncertainty and external interference of the model are compensated. Simulation and experiment compared with the conventional PIDC are carried out, the results demonstrate the effectiveness and the robustness of the proposed control method of this paper.

针对同轴旋翼飞行器(CRA)的位置姿态跟踪问题，提出一种滑模控制(SMC)与比例-积分-微分控制(PIDC)相结合的组合控制方法。考虑到飞行动力学、空气动力学和气流干扰的完整描述，建立了CRA动力学模型。根据实际飞行情况对动力学模型进行简化，然后将简化后的动力学模型分为两个子系统：全驱动子系统和欠驱动子系统。全驱动子系统的控制器由一个SMC控制器和一个速率有界PIDC控制器组成，而欠驱动子系统的控制器由一个SMC控制器组成。滑动流形是通过结合每个子系统的状态变量的位置和速度跟踪误差来定义的。Lyapunov稳定性理论用于验证滑模控制器的稳定性，保证系统的所有状态轨迹都能到达并停留在滑模面上，补偿了模型的不确定性和外部干扰。与传统PIDC进行了仿真和实验对比，结果证明了本文提出的控制方法的有效性和鲁棒性。补偿了模型的不确定性和外部干扰。与传统PIDC进行了仿真和实验对比，结果证明了本文提出的控制方法的有效性和鲁棒性。补偿了模型的不确定性和外部干扰。与传统PIDC进行了仿真和实验对比，结果证明了本文提出的控制方法的有效性和鲁棒性。