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针对倾转式三旋翼无人飞行器姿态和高度系统存在未知扰动和模型参数不确定性的问题,提出一种连续的非线性自适应鲁棒控制方法.该方法基于浸入-不变集原理估计模型未知参数,采用一种连续的鲁棒控制算法抑制未知扰动和补偿估计偏差.利用Lyapunov函数从理论上证明此方法能保证闭环系统的稳定性,并能实现飞行器姿态与高度控制误差的渐近收敛.最后通过实时实验结果验证所提出控制算法的有效性和鲁棒性.
Aiming at the problem of unknown disturbance and uncertainty of model parameters of attitude and altitude system of Tilt Rotorcraft, a continuous nonlinear adaptive robust control method is proposed. This method is based on Immersion-invariant set principle Unknown parameters and a continuous robust control algorithm to suppress unknown disturbances and compensate the estimated deviations.Using Lyapunov function it is theoretically proved that this method can guarantee the stability of the closed-loop system and achieve the asymptotic convergence of attitude and altitude control errors Finally, the validity and robustness of the proposed control algorithm are verified by real-time experimental results.