基于干扰观测器的小型无人直升机姿态控制  

Attitude control based on nonlinear disturbance observer for unmanned helicopter with disturbance

作　　者：于志刚[1] 宋申民[2] YU Zhi-Gang;SONG Shen-Min(School of Electronic Engineering,Heilongjiang University,Harbin 150080,China;School of Aeronautics,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]黑龙江大学电子工程学院,哈尔滨150080 [2]哈尔滨工业大学航天学院,哈尔滨150001

出　　处：《黑龙江大学工程学报》2018年第4期60-64,共5页Journal of Engineering of Heilongjiang University

基　　金：国家自然科学基金资助重点项目(61333003)

摘　　要：针对小型无人直升机姿态控制问题,提出了基于反步法和非线性干扰观测器的姿态控制律设计方法。该方法利用干扰观测器估计姿态系统的总干扰,并结合反步法有效地抑制了干扰力矩对飞行姿态带来的影响,使得无人直升机在干扰条件下能够保持飞行姿态的稳定。仿真分析验证了提出的控制方法具有较强的鲁棒性。An attitude control law based on backstepping and nonlinear disturbance observer is proposed for small-scale unmanned helicopter.As the estimates of the lumped disturbance is provided by disturbance observer,the control system with backstepping control law can compensate them such that close-loop attitude control system is stable with external disturbance.Simulation analyses demonstrate the strong robustness of the proposed control scheme.

关 键 词：无人直升机 干扰观测器 反步法 姿态控制 

分 类 号：V249.122.2[航空宇航科学与技术—飞行器设计]