无人直升机自主着舰轨迹跟踪控制

着舰飞行过程中的轨迹跟踪控制能力是影响舰载无人直升机性能的关键因素,针对无人直升机模型不确定性和在飞行时受阵风干扰的问题,基于扩张状态观测器(extend stated observer, ESO)和动态面策略提出一种应用于无人直升机自主着舰的轨迹跟踪控制方法。首先,建立无人直升机数学模型。其次,设计复合扰动ESO,用来观测未建模动态和外界阵风扰动的影响,并采用前馈补偿的方式来抑制系统不确定性,实现系统对扰动的鲁棒性。然后,采用内外环形式的分层结构设计轨迹跟踪控制器,采取动态面策略避免反步法“微分爆炸”和控制参数调整不敏感的问题,并采用Lyapunov方法证明了整个系统是一致渐进稳定的。最后,采用课题组在研直升机进行了仿真实验,仿真结果表明该控制器具有较好的轨迹跟踪性能。

Trajectory tracking and control for unmanned helicopter’s autonomous landing on ship

The ability of trajectory tracking and control during landing flight is a key factor affecting the performance of unmanned helicopter (UH) on board. Aiming at the uncertainty of the UH model system and the problem of being disturbed by gusts in the process of landing, a method of trajectory tracking and control based on the extend stated observer (ESO) and 〖JP2〗the dynamic surface strategy is proposed. Firstly, a mathematical UH model is built. Secondly, the composite disturbance ESO is structured to observe the effects of unmodeled dynamics and gust disturbances, and the uncertainty of the system is suppressed by feedforward compensation to achieve the system’s robustness for disturbance. Thirdly, the trajectory tracking control is structured with a layered structure in the form of inner and external rings, the problem of “differential explosion” and insensitive adjustment of control parameters is solved by the dynamic surface strategy, and the Lyapunov method is used to prove that the whole system is uniformly asymptotically stable. Finally, the experiment show that the designed control has better tracking performance.