无人驾驶飞机的两级控制

Two-Level Control of the Automatic Driving Plane

推导了Ｈａｍｍｅｒｓｔｅｉｎ模型描述的一类多变量非线性系统的加权最小方差自校正调节器算法，并采用两级控制思想将其应用在飞行控制器上。实际运行结果表明这种调节器具有较强的鲁棒性和较好的控制效果。

The algorithm of weighting least variance self-tuning controller for a class of nonlinearmultivariable systems describled by model Hammerstein is proposed,and this algorithm on fleight con-troller with the thought of two-level control is realized.The operation shows that this type of regulatorhas well robustness and control result。