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针对大展弦比飞翼布局无人机的刚体运动与弹性运动耦合动力学模型,提出了一种基于反步法的鲁棒非线性控制方法。该方法考虑了飞翼无人机的非线性因素,将动态面反步控制作为内环控制抵消系统的非线性因素;同时考虑系统实际存在的弹性耦合项、参数不确定项以及外部扰动,将内环反步控制与飞翼无人机模型整体作为新的被控对象,引入最优化理论对新的被控对象设计了外环鲁棒控制器。仿真结果表明,所提出的控制器不仅满足飞翼无人机姿态跟踪性能的要求,且对模型不确定性和气动弹性影响具有鲁棒性。
Aiming at the coupled dynamics model of rigid body motion and elastic motion with large aspect ratio flying wing layout UAV, a robust nonlinear control method based on backstepping method is proposed. The method considers the nonlinearity of the flying wing UAV and takes the dynamic surface backstepping control as the nonlinear factor of the inner loop control system. At the same time, considering the actual elastic coupling term, uncertain parameters and external disturbances, Inner loop backstepping control and flying wing UAV model as a whole new controlled object, the introduction of optimization theory for the new controlled object design of the outer loop robust controller. The simulation results show that the proposed controller not only meets the requirements of attitude tracking performance of flying wing UAV but also has robustness to model uncertainty and aeroelasticity.