基于模糊干扰观测器的无人机自主着陆逆控制器设计

摘要

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.%For the obvious nonlinear and uncertain UAV auto-landing system, a dynamic inverse control approach was presented based on Fuzzy Disturbance Observer (FDO) to reduce infection of uncertainty. According to the time scale separation principle, the UAV system was divided into fast, slow, slower and slowest loops. The dynamic inversion controller law was used to relieve coupling in fast, slow and slower loops, the line and exponent landing track was designed, and followed by slowest loop. A disturbance observer was designed based on fuzzy logical system to approach outside disturbance and inner uncertainty, and the stability of the system was proved by using Lyapunov theorem. The control simulation result of UAV auto-landing is presented. The result shows that the controller is robust, which can implement success auto-landing of UAV under outside interference.