基于干扰观测器的无人翼伞反步控制方法

摘要

A variable-gain backstepping tracking control method based on nonlinear disturbance observer is proposed in order to implement the path tracking for Unmanned Parafoil Vehicle(UPV)in the presence of compound disturbance. A variable-gain backstepping tracking control law is designed against the path tracking error model based on simulation object,and a nonlinear disturbance observer (NDOB)based on second order tracking -differentiator is employed to estimate the compound disturbance and make compensation to the control input,which improved system robustness while ensuring stability. In addition,the controller is applied to UPV planar curve path tracking control. The simulation results illustrate the good robustness of the proposed controller,and accurate tracking ability in desired path in the case of compound disturbance.%针对干扰条件下的无人翼伞飞行器曲线路径跟踪控制,提出了一种基于非线性干扰观测器的可变增益反步控制方法.针对基于模拟对象方法的路径跟踪误差模型,设计了可变增益反步跟踪控制律,采用二阶跟踪- 微分器设计干扰观测器对系统复合干扰进行估计和补偿,在保证稳定性的同时提高系统的鲁棒性.将控制器用于无人翼伞飞行器平面曲线路径跟踪控制中,仿真结果表明,所设计的控制器可以在复合干扰作用下实现期望路径的准确跟踪,且具有很好的鲁棒性.