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针对无人直升机干扰下的鲁棒轨迹跟踪问题,设计了一种自适应反步控制方法.鉴于作用在直升机上的干扰是产生跟踪误差的主要原因,该方法的主要思想是寻求一种方法来补偿这种干扰.首先,将未建模动态如外部阵风干扰、配平误差、机身、垂尾、平尾以及其他可忽略的动态产生的力和力矩看成一种组合干扰,从而建立了一个方便反步法控制器设计的简化模型.当设计好反步法控制器后,设计了一个非线性自适应律来估计这种组合干扰,并通过将干扰估计值整合到反步控制器中,使得闭环跟踪系统的鲁棒稳定性得到了保证,即基于李雅普诺夫稳定性理论证明了所设的控制器对于干扰主动阻隔,特别是低频干扰的主动阻隔是有效的.最后,两个仿真研究验证了该方法是优于常规反步法和积分反步法的.
Aiming at the robust trajectory tracking problem under the interference of unmanned helicopter, an adaptive backstepping control method is designed. Since the interference acting on the helicopter is the main reason for tracking error, the main idea of this method is to find a way to Compensate for such disturbances.Firstly, unmodeled dynamics such as external gust disturbance, trim error, fuselage, tail, tail and other negligible dynamic forces and moments are considered as a combination of interference, thus creating a convenient A simplified model of step controller design is proposed.After designing the backstepping controller, a non-linear adaptive law is designed to estimate this combined disturbance and the closed-loop The robust stability of the tracking system is guaranteed, that is based on the Lyapunov stability theory, which proves that the proposed controller is effective in active blockade of interference, especially low-frequency interference.Finally, two simulation studies verify This method is superior to the conventional backstepping and integral backstepping.