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无人直升机模型阶数比较高,设计常规反步控制器面临繁琐的对虚拟控制输入信号求导过程.针对此问题,设计了一种基于滤波器的反步控制方法.该方法通过滤波器而非直接解析地对虚拟控制量进行求导,从而显著简化了反步控制律的计算过程.在滤波器设计过程中,通过限制中间虚拟控制信号的幅值,变化速率以及带宽,以满足系统对状态变量及控制输入信号的约束要求.李雅普诺夫稳定性分析证明了直升机补偿跟踪误差全局指数稳定.仿真研究验证了该方法的有效性.
Unmanned helicopter model order is relatively high, the design of conventional backstepping controller is faced with cumbersome process of derivation of virtual control input signal.In view of this problem, a filter-based backstepping control method is designed.This method through the filter In the process of filter design, by limiting the amplitude, rate of change and bandwidth of the intermediate virtual control signal to meet the system requirements State variables and control input signals.Lyprenov’s stability analysis proves the global exponential stability of helicopter compensation tracking error.The simulation results show the effectiveness of the proposed method.