扑翼微型飞行器自适应鲁棒姿态控制

给出了扑翼微型飞行器姿态控制系统的数学模型,并提出了一种自适应鲁棒控制的新方法。飞行过程的复杂性使得姿态控制器的设计极具挑战性,主要困难是系统表现为非线性、不确定性、多变量参数耦合以及各种干扰。由于自适应鲁棒控制不依赖系统的精确数学模型,所以将系统分为名义模型、结构不确定性和非结构不确定性,对其分别设计直接反馈控制器、自适应控制器和鲁棒控制器,并用李亚普诺夫定理分析了系统的稳定性。仿真结果证实了所提方法的有效性。

Adaptive Robust Attitude Control for Flapping Wing Micro Aerial Vehicle

Mathematical model of the attitude control system of Flapping Wing Micro Aerial Vehicle (FWMAV) was given, and a novel control strategy constituted by adaptive robust control was proposed. The design of attitude controller is challenging due to the complex flight process. The important difficulty is that the system embodies uncertainties, nonlinearities, multi-variable parameter coupling, and all kinds of disturbances (such as gust). Adaptive robust control scheme does not depend on the accurate mathematical model of plant, so the system can be divided into nominal model, structured uncertainties, and unstructured uncertainties. For them, direct feedback controller, adaptive controller, and robust controller were contrived respectively. The system stability was analyzed by Lyapunov theorem. Simulation results verify the effectiveness of the proposed method.