基于超稳定理论的小型无人机自适应控制策略研究

Study on an Adaptive Control Strategy for Unmanned Aerial Vehicles Based on Hyper-Stability Theory

介绍一种基于Popov超稳定理论的无人机自适应控制策略,用于增强飞行控制系统的抗干扰性和对于时变参数的适应性。该控制方案首先根据LQR(linear quadratic regulator)原理对某无人机的纵向模型进行闭环反馈补偿,使被控模型满足Popov超稳定理论所要求的完全跟踪条件。然后,利用超稳定理论设计了模型参考自适应控制器,实现全部纵向飞行状态的无静差跟踪控制。最后,在系统存在参数摄动和外界干扰的情况下,对所提出的控制系统进行仿真研究。仿真结果表明,该控制方案能有效抑制受控对象自身参数摄动和外部干扰对于飞行状态的影响,具有较好的适应能力。

A novel adaptive control strategy of unmanned aerial vehicles（UAV） based on Popov＇ s hyper-stability theory is presented to improve anti-interference capability and the time-varying parameters adaptability of flight control system.Firsdy,a linear quadratic regulator（LQR） is applied to compensate the longitudinal dynamical model of a UAV from a key laboratory in a feedback form,so that this model can satisfy the complete tracking conditions of Popov＇ s hyper-stability theory.Then,based on hyper-stability theory,a model reference adaptive controller is designed to achieve the tracking control of the compensated UAV model＇ s all longitudinal flight state with zero steady-state errors.Finally,the proposed full-state tracking control system is simulated under circumstances of parameter perturbations and outer disturbances.The simulation results show that the control system can significandy alleviate the effects of parameter perturbations and outer disturbances,and has a desired full-state tracking performance.