基于两级制导策略的无人旋翼机着陆控制研究  

Research on Landing Control for UAVs Based on Two-Stages Guidance Strategy

作　　者：夏小虎 蒙争争[1] 张春鹏[1] 刘明 XIA Xiao-hu;MENG Zheng-zheng;ZHANG Chun-peng;LIU Ming(Department of Mechanical Engineering,Hefei University,Hefei 230601;Institute of Intelligent Machines,Chinese Academy of Sciences,Hefei 230031,China)

机构地区：[1]合肥学院机械工程系,合肥230601 [2]中国科学院合肥智能机械研究所,合肥230031

出　　处：《合肥学院学报（综合版）》2018年第5期65-69,共5页Journal of Hefei University：Comprehensive ED

基　　金：安徽省高校优秀青年人才支持计划重点项目(gxyq ZD2016277);安徽省高等学校自然科学研究项目(KJ2017A540);安徽省高校优秀青年骨干人才国内外访学研修重点项目(gxfx ZD2016224)资助

摘　　要：无人机着陆控制是实现其自主飞行的关键技术之一,由于无人机本身的非线性和欠驱动而成为难题。在传统的有终端约束的最优控制求解方法的基础上,提出两级着陆制导策略,分别在代价函数中采用对终端约束条件进行一次加权和二次加权处理,再分别使用扫掠法和转移矩阵法求解得到控制律,基于模型直升机的实验平台,建立状态空间数学模型,数值仿真证明了两级着陆制导策略的有效。和传统单一制导方法对比,终端误差明显降低,计算量增加合理。The landing control of unmanned aerial vehicles （UAVs） is a challenging task due to their nonlinear and under-actuated dynamics. However, it is of importance for autonomous flight. A new class of two-stage guidance strategy is put forward in the paper based on classical optimal control with terminal constraints. In the first stage, the terminal constraint is embedded in cost function directly and sweep method is used to find solution. In the second stage, the terminal constraint is embedded in cost function quadratically and transition matrix method is used to find solution. The numerical simulations have been done and the results show the effectiveness of two-stages guidance strategy and it advantage over conventional method with respect to final errors. The added computational cost of twostage guidance strategy is acceptable.

关 键 词：最优控制 扫掠法 转移矩阵法 终端约束 

分 类 号：V249.122[航空宇航科学与技术—飞行器设计]