【摘 要】
：
In this paper,the Small Unmanned Aerial Vehicles (SUAVs)
avigation,attitude and velocity control are integrated into a simple,unified Hierarchy-Structured Incre
【出 处】
：
2014中国制导、导航与控制学术会议
论文部分内容阅读
In this paper,the Small Unmanned Aerial Vehicles (SUAVs)
avigation,attitude and velocity control are integrated into a simple,unified Hierarchy-Structured Incremental Dynamic Inversion (HSIDI) control system.Firstly,based on singular perturbation theory,all the variables of the SUAVsdynamics are divided into four groups according to time-scale,and four Dynamic Inversion (DI) subsystems are designed.Secondly,to increase the robust performance of the system,the method of the Incremental Dynamic Inversion (IDI) is applied.The IDI attitude control subsystem and the IDI velocity control subsystem are designed.This approach reduces the controllers sensitivity to the model mismatch and increases the robustness of the control system.The SUAVslanding simulation program designed in this paper verifies the effectiveness of the method.
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