小型无人直升机的双时标鲁棒控制系统设计

摘要

针对小型无人直升机,提出一种双时标鲁棒飞行控制器的设计方法.首先根据小型无人直升机模型的特点和时标分离思想,将快速变化的姿态控制回路作为控制系统内环,慢速变化的平移控制回路作为控制系统外环,分别采用基于四元数描述的方法和基于反步法的鲁棒控制完成控制器设计.然后运用Lyapunov方法对所设计的闭环控制系统进行稳定性分析,证明这种双时标飞行控制系统在没有干扰时可以实现跟踪误差的指数收敛.最后对该控制器进行仿真验证,结果表明,在阵风干扰下这种控制器仍然能够保证小型无人直升机实现良好的位置跟踪控制.%A double time-scale robust flight controller design method is proposed for a small unmanned helicopter. Specifically, according to the characteristics of a small unmanned helicopter model and the time-scale separation principle, the fast time-scale attitude control loop is regarded as the inner loop of the entire control system and, correspondingly, the slow time-scale translational control loop is chosen as the outer loop. The flight controller is designed by using the quaternion-based description method and the robust control based back-stepping technique. Lyapunov techniques are used to analyze the stability of the designed closed-loop control system, which proves that the double time-scale flight control system can achieve exponential convergence for the tracking error without the disturbance. Finally, some numerical simulations are conducted, whose results demonstrate that the proposed controller can achieve superior control performance for position tracking control with gust disturbance.