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针对无人直升机模型阶数较高、负载变化大等问题,提出了一种基于自适应动态面的控制方法.该方法用一阶线性滤波器来估计虚拟控制信号的导数,显著简化了控制器的设计过程.此外,通过对无人机重量的自适应在线估计,保证了闭环系统在有负载变化下的稳定性,并基于李雅普诺夫稳定性理论,证明了轨迹跟踪误差半全局一致最终有界.最后,通过仿真实验进一步证实了该方法的有效性和可行性.
Aimed at the problems of high order and large load variation of unmanned helicopter, a control method based on adaptive dynamic surface is proposed, which uses first-order linear filter to estimate the derivative of virtual control signal, which simplifies the controller In addition, through the on-line estimation of the weight of the UAV, the stability of the closed-loop system under the load change is guaranteed, and based on the Lyapunov stability theory, it is proved that the trajectory tracking error is semi-globally consistent and finally Finally, the validity and feasibility of this method are further confirmed through simulation experiments.