一种鲁棒自适应Backstepping控制方案研究

对基于调节函数的Backstepping自适应控制方案进行了改进,设计了一种新型鲁棒自适应无人机飞行控制系统.首先将某型无人机的系统模型转化为一个含有非线性参数不确定性、不确定的非线性与未建模动态的受扰严格反馈系统,然后提出了一种含有广义误差自适应调节项的新型李亚普诺夫函数,得出了稳定自适应控制律和参数更新律.最后该无人机的鲁棒自适应飞控系统的有效性得到了仿真验证.

Study of a Robust Adaptive Control Scheme with Backstepping

The adaptive backstepping approach based on turning function is improved in this paper. A new robust adaptive flight control system is designed for a certain unmanned aerial vehicle (UAV). First, the system model of the UAV is changed to a disturbed strict feedback system, which contains nonlinear parameter uncertainty, uncertain nonlinear and unmodeled dynamics. Second, a Lyapunov function with an adaptive regulating term to the general error is presented and then a stable adaptive control law and parameter update law is derived. There is a robust adaptive term, which can compensate the effect of uncertain nonlinear and the unmodeled dynamics both in the control law and parameter update law. The adaptive regulating term to the general error also appears in the control law and parameter update law, its main function is to slow the parameter update rate when the actuator saturation occurs. At last, this new flight control system is tested by simulation.