基于非线性干扰观测器的翼伞鲁棒反步跟踪控制  

Robust backstepping tracking control based on nonlinear disturbance observer for unmanned parafoil vehicle

作　　者：陈自力[1] 张昊[1] 蔚建斌[1] 苏立军[1] 邱金刚[1] CHEN Zi-li ZHANG Haot WEI Jian-bin SU Li-jun QIU Jin-gang(Department of UAV Engineering, Ordnance Engineering College, Shijiazhuang 050003, Chin)

机构地区：[1]军械工程学院无人机工程系,石家庄050003

出　　处：《控制与决策》2017年第8期1427-1433,共7页Control and Decision

基　　金：国家自然科学基金项目(51175508);总装院校创新工程项目(ZYX12080007)

摘　　要：针对干扰条件下的无人翼伞飞行器路径跟踪控制问题,提出一种基于非线性干扰观测器的反馈增益鲁棒反步控制方法.采用二阶跟踪-微分器设计干扰观测器对系统复合干扰进行估计和补偿,设计了反馈增益反步跟踪控制律,通过合理设计增益参数,消除了部分复杂非线性项,避免了虚拟量高阶导数问题,简化了控制器形式.根据Lyapunov理论设计鲁棒反馈补偿项,在保证稳定性的同时提高了系统的鲁棒性.仿真实验结果验证了所提出方法的有效性.A feedback gain robust backstepping tracking control method based on the nonlinear disturbance observer is proposed in order to implement the path tracking for the unmanned parafoil vehicle（UPV） in the presence of disturbance. Firstly, a nonlinear disturbance observer （NDOB） based on the second order tracking-differentiator is employed to estimate the compound disturbance and make compensation to the control input, and a feedback gain backstepping tracking control law is designed. Then by properly designing gain parameters, a part of complicated nonlinear terms are eliminated, and higher derivatives of virtual control variables are avoided so as to make the controller simpler. Finally, robust feedback compensation terms are designed by using the Lyapunov theory to improve system robustness while ensuring stability. The simulation results show the effectiveness of the proposed controller.

关 键 词：无人翼伞飞行器 路径跟踪 非线性干扰观测器 反馈增益 鲁棒 反步法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]