鲁棒控制在某型无人机航迹跟踪中的应用  

Applying Robust Control on the Waypoint Tracking of a Fixed-wing UAV

作　　者：张文广 易文俊[1] 管军[1] 袁丹丹[1] 张浩然[1] ZHANG Wenguang;YI Wenjun;GUAN Jun;YUAN Dandan;ZHANG Haoran(National Key Laboratory of Trainsient Physics,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学瞬态物理国家重点实验室,江苏南京210094

出　　处：《弹道学报》2018年第3期7-12,共6页Journal of Ballistics

基　　金：国家自然科学基金项目(11472136)

摘　　要：针对无人机航迹控制中气动参数摄动问题,提出了一种抗气动参数摄动的鲁棒控制策略及其在某型无人机三维空间航迹跟踪控制中的应用。分析了传统控制方法在复杂条件下存在的气动参数误差的影响,给出了含有误差项的运动学模型,根据Lyapunuov稳定性理论,设计了含有参数摄动上限项的控制律,使系统对参数摄动不敏感。设定了较大的气动参数组合偏差对该方法进行了验证,结果表明,航迹跟踪控制算法中引入气动参数摄动抑制环节,可以保证控制的精度。Aiming at the perturbation of aerodynamic parameters in the waypoint control of unmanned aerial vehicle(UAV),a robust control law against the perturbation of the aerodynamic parameters was proposed,and it was applied for tracking waypoint of a fixed-wing UAV.The effect of the perturbation of the aerodynamic parameters on the traditional control method was analyzed,and the kinematic model containing error term was given.A new control law added with the upper-limit item of the perturbation of the aerodynamic parameters was designed,which enabled the system to be stable.The proposed method was verified by setting a series of large perturbation of the parameters.The result shows that it can guarantee the control precision to introduce the perturbation of aerodynamic parameters.

关 键 词：气动参数摄动 航迹点跟踪 李雅普诺夫函数 滑模变结构控制 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]