基于L1自适应控制律的无人机滚转控制

在飞行器参数变化时,L1自适应控制相对于传统比例积分微分(proportional integral derivative,PID)控制方法具有理想的控制效果.针对某型存在参数不确定性的无人机,建立了无人机横侧向动力学模型,在对L1自适应控制理论进行研究的基础上,分别设计了L1自适应控制律和比例微分(proportional derivative,PD)控制律,通过算例仿真,对比分析了这两种控制律对无人机滚转角的控制效果.结果表明,L1自适应控制律具有良好的抗飞行器参数变化能力,鲁棒性强,对无人机飞行控制系统设计具有重要的参考价值.

The Control of Unmanned Aerial Vehicle's Roll Based on L1 Adaptive Law

Compared with the traditional PID control method, L1 adaptive control has an ideal control effect when the aircraft parameters change. In this paper, a lateral dynamic model of a certain UAV with parameter uncertainty was established. Based on the study of L1 adaptive control theory, L1 adaptive control law and PD control law were designed respectively. The control effect of these two control laws for the roll angle of UAV was compared and analyzed by simulation. The results show that the L1 adaptive control law has good anti-aircraft parameter change ability and strong robustness. It has important reference value for the design of UAV flight control system.