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针对具有显著非线性和不确定性的无人机自主着陆系统,提出基于模糊干扰观测器的非线性动态逆的控制方法,用于降低控制器对不确定性的要求。基于时标分离原则,将无人机自主着陆系统分为快回路、慢回路、非常慢回路和极慢回路,通过在快回路、慢回路和非常慢回路设计动态逆控制律使状态解耦,设计直线下滑和指数拉平的着陆轨迹,并在极慢回路进行跟踪。设计基于模糊系统的干扰观测器,以逼近外部干扰和内部不确定性等复合干扰,基于李雅普诺夫理论证明系统稳定性。最后给出了无人机自主着陆轨迹跟踪控制仿真,仿真结果表明设计控制器具有良好鲁棒性,完成无人机在外界干扰下的自主着陆控制。
Aiming at the autonomous landing system of UAV with significant nonlinearity and uncertainty, a control method of nonlinear dynamic inverse based on fuzzy disturbance observer is proposed to reduce the uncertainty of the controller. Based on the principle of time-scale separation, UAV autonomous landing system is divided into fast loop, slow loop, very slow loop and very slow loop. The state is decoupled by designing dynamic inverse control law in fast loops, slow loops and very slow loops, Design a straight-glide and exponential landing trajectory and track it on a very slow circuit. The disturbance observer based on fuzzy system is designed to approximate the compound interference such as external disturbance and internal uncertainty, and the system stability is proved based on Lyapunov theory. At last, the simulation of autonomous landing tracking control of UAV is given. The simulation results show that the designed controller has good robustness and completes autonomous landing control of UAV under external disturbance.