基于反馈线性化的无人机盘旋控制器设计

摘要

针对经典 PD 算法无法保证闭环系统在大范围内的稳定性的问题，提出一种基于反馈线性化的无人机盘旋控制器设计方法。在考虑滚转角响应特性的条件下建立了无人机盘旋飞行的非线性动力学模型，在此基础上基于反馈线性化方法设计了非线性盘旋控制器，以保证闭环系统的全局渐进稳定，并通过Matlab/Simulink中将盘旋控制器加入模型进行仿真。仿真结果证明：相比于线性盘旋控制器，非线性盘旋控制器可得到更好的动态响应特性，其抵抗风干扰的能力也明显优于线性盘旋控制器。%Because the classical PD algorithm can not ensure stability of close loop system in large area, put forwards a UAV circling flight controller based on feedback linearization. Considering roll angle response feature, establish UAV circling flight nonlinear dynamic model. Based on this, design nonlinear circling controller based on feedback linear method to ensure close loop system global asymptotical stability, then add circling controller into model for simulation by Matlab/Simulink. The simulation results show that: comparing with linear circling controller, nonlinear circling controller can acquire better dynamic response feature, its anti-wind disturbance ability is better than linear circling controller.