无人机非线性动态逆控制器的设计研究  

Gain-Scheduling Design of UAV Flight Controller

作　　者：李怡勇[1] 沈怀荣[1] 

机构地区：[1]装备指挥技术学院,北京101416

出　　处：《航天控制》2007年第5期54-57,共4页Aerospace Control

摘　　要：针对现代无人机上采用非线性飞行控制的趋势,概述了动态逆方法的发展、特点及应用。结合无人机飞行控制特点,基于奇异摄动原理,将无人机非线性运动方程分解为快慢不同的3个模态,采用动态逆方法设计了无人机非线性状态逆控制器,仿真结果表明,动态逆控制器能够较好地实现对无人机的跟踪控制。Aiming at the trend to use nonlinear flight control for modern UAV, the development, character and application are introduced in this article. Based on the character of UAV flight control and singular perturbation principle, UAV nonlinear kinematic equations are decomposed into 3 modes from fast to slow. The UAV nonlinear state inversion controller is designed through dynamic inversion method. Simulation results indicate that dynamic inversion controller can implement tracking control for UAV well.

关 键 词：无人机 非线性 飞行控制器 动态逆 

分 类 号：V233.73[航空宇航科学与技术—航空宇航推进理论与工程] TP391.8[自动化与计算机技术—计算机应用技术]