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针对无人直升机模型阶数比较高,设计常规反步法控制器时面临着对虚拟控制输入信号求导过程较为繁琐的缺陷,提出一种基于滤波器反步法的控制方法.首先,通过滤波器而非直接解析地对虚拟控制量求导,从而显著简化了反步控制器的设计过程,而且由于导数是通过积分过程而非微分得到,大大降低了测量噪声的影响;然后,基于李雅普诺夫稳定性理论证明了补偿跟踪误差是全局指数稳定的;最后,通过仿真结果进一步验证了所提出方法的稳定性和有效性.
In view of the high order of unmanned helicopter model, the design of the conventional backstepping controller is confronted with the problem that the derivation process of the virtual control input signal is more complicated, and a control method based on the filter backstepping method is proposed.Firstly, Instead of analytically directing the amount of virtual control, the design process of the backstepping controller is significantly simplified, and the influence of measurement noise is greatly reduced because the derivative is obtained through integration rather than differentiation; then, based on Lyapunov The stability theory of husband proves that the compensation tracking error is global exponential stability. Finally, the stability and validity of the proposed method are further verified by simulation results.