摘要
小型无人直升机凭借良好的机动特性,在军事和民用方面有着广泛的用途。针对小型无人直升机悬停模型,考虑模型参数不确定对无人机控制的影响,提出一种鲁棒自适应控制律,实现无人机控制系统对不确定扰动的抑制。首先,基于无人直升机线性化悬停模型设计滑模面,并结合标称系统控制的反馈增益,获得滑模面的设计参数;在此基础上,利用传统滑模趋近律设计方法设计控制器;为改善系统控制性能,设计基于自适应增益的趋近律,实现系统鲁棒自适应控制。其次,利用Lyapunov稳定理论对所设计的鲁棒自适应控制策略的稳定性进行分析说明。最后,通过与基于指数趋近律以及变速趋近律的两种滑模控制方法仿真对比,验证了所设计的控制方法的有效性和优越性。
Miniature UAV helicopters are widely used in military and civil fields with good maneuvering performance. Considering the control design of the small-scale UAV helicopter under the influence of uncertainty in hover, a robust adaptive controller is proposed to mitigate the disturbances of uncertainties for the control system. A linearized hovering model of a helicopter has been adopted. Through the design of sliding surface, parameters of the sliding surface are obtained by considering the nominal gain of the feedback system, on the basis of which two controllers are constructed with traditional sliding mode control law. To improve the control effect, a composite reaching law is proposed, and the whole system＇s stability based on robust adaptive controller is analyzed with Lyapunov theory. Finally, the simulation results verify the effectiveness and superiority of the controller compared with the control methods of exponential approach law and variable rate approach law.
出处
《控制工程》
CSCD
北大核心
2014年第2期253-257,共5页
Control Engineering of China
基金
国家自然科学基金(91016018
61273092)
教育部科学技术研究重大项目(311012)
天津市基础研究重点项目(11JCZDJC25100
12JCZDJC30300)
关键词
无人直升机
自适应滑模控制
鲁棒性
UAV helicopter
adaptive sliding mode control
robustness
