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基于稳定逆解决无人机空速/高度的精确解耦跟踪这一本质为非最小相位输出解耦跟踪的问题。创新点在于给出了近似误差的渐进收敛的稳定逆因果近似解的求取方法,克服了稳定逆求解时的非因果问题。该方法的优点是:不需期望输出轨迹为预先已知的时间函数,拓宽了稳定逆的适用范围;该方法计算量小,比现有方法更有利于稳定逆的在线实时应用。利用此方法获得轨迹跟踪所需的前馈控制和状态参考轨迹,结合反馈控制实现能有效解决无人机空速/高度的精确解耦跟踪。
Based on the Stable Inverse Solution UAV Precision Decoupling Tracking is essentially a non-minimum phase output decoupling tracking problem. The innovation point is to find a stable inverse causal approximate solution to the asymptotic convergence of the approximate error and to overcome the non-causal problem of the stable inverse solution. The method has the advantages that the output trajectory is not expected to be a known time function in advance, and the applicable range of the stability inverse is broadened. The method has a small amount of calculation and is more favorable to the online real-time application of the stabilization inverse than the existing method. By using this method, the feedforward control and state reference trajectory needed for trajectory tracking are obtained. Combined with feedback control, the precise decoupling tracking of airspeed / altitude of the UAV can be effectively solved.