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论述了组合非线性反馈(CNF)算法的基本原理与思路,基于无人直升机线性模型,设计了小型无人直升机CNF控制律,仿真表明所设计的控制律能够良好地实现姿态稳定与速度指令跟踪的功能。针对CNF控制律中非线性反馈项的参数选取问题进行了分析,并通过仿真加以比较,与线性控制算法比较的结果表明了CNF控制算法的优越性。
The basic principle and idea of combined nonlinear feedback (CNF) algorithm are discussed. Based on the unmanned helicopter linear model, the CNF control law of small unmanned helicopter is designed. The simulation shows that the designed control law can well achieve the attitude stability and speed command tracking Function The parameter selection of nonlinear feedback term in CNF control law is analyzed and compared by simulation. The results of comparison with linear control algorithm show the superiority of CNF control algorithm.