某小型无人机导航控制算法研究

Investigation of the Navigation and Control Algorithm for a Small UAV

研究了可实现小型无人机自主飞行的控制、导航算法。建立了描述无人机运动的状态空间模型,在此基础上分析了开环系统对扰动的响应。针对响应结果,采用最优控制理论设计了带有全维状态观测器的控制器;使用了基于李雅普诺夫向量场的导航算法并对控制器和导航算法进行仿真。研究结果表明,文中给出的控制和导航算法具有良好的性能指标,可跟踪任意航路点,从而可以实现无人机自主飞行。

The navigation and control methods which can achieve autonomous flight for UAV were investigated in this paper. The state space model of the UAV was established. The response to disturbance of the open-loop system was analyzed. A lateral direction autopilot with state observer was designed by using LQR method. Then, a navigation algorithm named Lyapunov vector field was presented. The navigation and control strategies were both simulated in time domain. The results illuminate the proposed methodologies have satisfying performance and can track arbitrary waypoint. Consequently, requirement of automatic flight was achieved.