摘要
针对倾斜转弯(BTT)无人机飞行控制中的多变量强耦合问题,研究了一种适用于BTT无人机的反演算法,以实现飞行控制系统的自适应解耦控制。根据采用倾斜转弯控制无人机的基本特性,建立无人机的非线性控制模型,并将其转化为适用于反演设计的反馈块模型。在此模型上,基于反演的非线性控制系统设计方法,加入自适应神经网络逼近系统中存在的不确定性,基于Lyapunov稳定性理论推导了自适应调节律,设计了无人机飞行系统控制律。仿真结果表明该控制器能够实现控制解耦目的,且对指令信号跟踪效果良好,验证了该设计的有效性和可行性。
In order to solve the multiple variables and strong coupling problems, a backstepping algorithm of the BTT UAV autopilot controller was proposed in this paper. Based on the peculiarity of BTT UAV, the nonlinear model of UAV was built. After the UAV model was translated into the feedback block model to realize the backstepping design, a special nonlinear synthetical backstepping method was ap- plied into designing the controlling rules of BTT UAV, which added neural networks to solve the uncertainties problems, and the adaptive tun ing rules were derived using the Lyapunov stability theorem. This method can finish the decoupling design of controller and track the command signals well. Simulation studies are included to demonstrate the effectiveness of the proposed method.
出处
《舰船电子工程》
2013年第1期64-67,90,共5页
Ship Electronic Engineering
