基于非线性动态逆的姿态跟踪控制

Attitude Tracking Control Based On Nonlinear Dynamic Inversion

当遇到非线性系统时可以利用传统的控制策略将其转化为线性系统进行处理,但是当系统的非线性度很高的时候,传统的控制策略就无能为力了,为了在飞行控制领域解决上述问题,引入了动态逆控制方法。首先确定一种非线性动态逆控制规律在飞行器上的应用,同时考虑到了惯性参数的不确定性和气动力矩的不确定性,实际是一种非线性的时变系统,为了改善全局稳定性,可以通过六自由度的仿真保证系统稳定,证明控制规律的有效性。

Non - linear systems can be translated into a linear system with traditional control strategies, but when a system is highly non - linear, traditional control strategy is useless. , To solve this problem in the area of flight control, a method of dynamic inversion control is introduced in this paper. Firstly, a nonlinear dynamic inversion control law is presented for unpowered flying vehicle, meanwhile inertia uncertainty and aerodynamic moment uncertainty are taken into consideration. Secondly, the vehicle model is a nonlinear and time - varying system, the illustration of the global stability analysis is given. Finally, the validity of the proposed control law is demonstrated by six - degree - of - freedom simulation.