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针对干扰条件下的无人翼伞飞行器曲线路径跟踪控制,提出了一种基于非线性干扰观测器的可变增益反步控制方法。针对基于模拟对象方法的路径跟踪误差模型,设计了可变增益反步跟踪控制律,采用二阶跟踪-微分器设计干扰观测器对系统复合干扰进行估计和补偿,在保证稳定性的同时提高系统的鲁棒性。将控制器用于无人翼伞飞行器平面曲线路径跟踪控制中,仿真结果表明,所设计的控制器可以在复合干扰作用下实现期望路径的准确跟踪,且具有很好的鲁棒性。
Aiming at the curvilinear path tracking control of unmanned aerial vehicle under the interference condition, a variable gain backstepping control method based on nonlinear disturbance observer is proposed. Aiming at the path-tracking error model based on the simulation object method, a variable-gain backstepping control law is designed and the second-order tracking-differentiator is designed to estimate and compensate the system interference by the disturbance observer. While ensuring the stability, Robustness. The controller is applied to planar curve path tracking control of unmanned airfoil aircraft. The simulation results show that the proposed controller can accurately track the desired path under compound interference and has good robustness.