飞翼无人机机动飞行非线性鲁棒自适应控制

摘要

机动飞行能力作为无人机任务扩展的重要保证,受到各国的普遍重视.针对飞翼布局无人操纵能力不足、非线性和耦合性强的特点,提出一种非线性自适应控制方法.在所提的控制结构中,内环线性化解耦消除已知不利的耦合项,外环反步跟踪方法进行航迹跟踪,并采用粒子群补偿器补偿各种扰动和不可建模的耦合项,保证系统对各种扰动的自适应能力,且证明了该控制结构的稳定性.同传统反步控制方法相比,所提控制器增加了内环解耦结构.不同于传统的动态逆解耦控制方法,本文在控制结构中保留气动阻尼项,使得线性化后的系统为弱非线性系统.该结构不仅可以降低外环控制器设计的保守性,而且便于工程实现.仿真结果显示,该控制方案是有效的.%As an important guarantee for the expansion of the unmanned aerial vehicle (UAV) mission, the maneuver flight capability has been widely paid attention to by many countries.According to the characteristics of flying wing UAV lack of manipulate ability,strong nonlinearity and coupling, a control scheme is presented that the inner loop uses linearization decoupling methods to eliminate the known negative coupling, the outer loop uses backstepping methods for trajectory tracking control, and the particle swarm optimization compensator is used to compensate the disturbance and the non-modeling coupling term and to ensure that the system has the ability to adapt to various disturbances.The stability of the control structure is proved.Compared with the traditional backstepping control method, the controller increases the inner loop decoupling structure.Different from the traditional dynamic inverse decoupling control method, this paper retains the aerodynamic damping term in the control structure, which makes the linearization of the system a weak nonlinear system.The structure not only can reduce the conservatism of the outer loop controller design, but also is convenient for engineering realization.Simulation results show that the proposed control scheme is effective.