基于干扰观测器的无人翼伞反步控制方法  

Backstepping Control Method Based on Disturbance Observer for Unmanned Parafoil Vehicle

作　　者：张昊 陈自力[2] 蔚建斌[2] 程欣[3] 

机构地区：[1]解放军69250部队 [2]军械工程学院 [3]北方自动控制技术研究所

出　　处：《火力与指挥控制》2017年第10期5-9,共5页Fire Control & Command Control

基　　金：国家自然科学基金(51175508);军队院校创新工程基金资助项目(ZYX12080007)

摘　　要：针对干扰条件下的无人翼伞飞行器曲线路径跟踪控制,提出了一种基于非线性干扰观测器的可变增益反步控制方法。针对基于模拟对象方法的路径跟踪误差模型,设计了可变增益反步跟踪控制律,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,在保证稳定性的同时提高系统的鲁棒性。将控制器用于无人翼伞飞行器平面曲线路径跟踪控制中,仿真结果表明,所设计的控制器可以在复合干扰作用下实现期望路径的准确跟踪,且具有很好的鲁棒性。A variable-gain backstepping tracking control method based on nonlinear disturbanceobserver is proposed in order to implement the path tracking for Unmanned Parafoil Vehicle（UPV）inthe presence of compound disturbance. A variable-gain backstepping tracking control law is designedagainst the path tracking error model based on simulation object,and a nonlinear disturbance observer（NDOB） based on second order tracking-differentiator is employed to estimate the compounddisturbance and make compensation to the control input,which improved system robustness whileensuring stability. In addition,the controller is applied to UPV planar curve path tracking control. Thesimulation results illustrate the good robustness of the proposed controller,and accurate tracking abilityin desired path in the case of compound disturbance.

关 键 词：无人翼伞飞行器 路径跟踪 非线性干扰观测器 模拟对象 可变增益 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]