基于反步法的小型无人直升机位置控制器设计

摘要

针对小型无人直升机的位置控制问题，提出一种基于反步法的控制器设计方法。基于小型无人直升机非线性模型的刚体动力学，采用反步法得到力和力矩控制量，再通过数值分析得到最终舵机的控制量。通过李雅普诺夫稳定性定理严格分析了系统的稳定性，最后通过仿真，验证了控制器具有良好的位置控制性能。%This paper presents the design and verification of a backstepping based position controller on a small unmanned aerial vehicle (UAV). In this paper, the backstepping method is employed to design the force/moment, and the final servo controller can be derived by the numerical analysis method. The system proved to be asymptotical stable by Lyapunov method. Simulation results can illustrate the position control performance.