基于L1自适应控制的无人机横侧向控制

Lateral Roll Angle Control of UAV Based on L1 Adaptive Control Method

在设计无人机飞控系统时,以往采用PID增益调参,由于每架飞机参数的不确定,传统方法费时费力。为了克服传统方法对系统参数和模型结构的依赖,提出了一种对小型无人机进行横侧向滚转角控制设计的新的L1自适应控制方法。该方法将飞机在包线内的参数变化和耦合视为模型的时变参数和干扰;构建的L1横侧向控制律能够对控制信号中的高频振荡进行有效抑制。仿真验证的结果表明,所设计的控制器能够控制跟踪误差渐进收敛且跟踪效果良好。

In the design of traditional UAV flight control system, it usually used the PID gain adjustment method. But due to uncertain parameters of each aircraft , the traditional method is time consuming. In this paper, in order to overcome the disadvantage of traditional reliance on system parameters and precise model structure, we use a new L1 adaptive control method for small UAV lateral roll angle control design. This method considers the parameter varia- tions and coupling of aircraft in envelope as time-varying parameters and interference. The designed L1 lateral con- trol effectively suppresses high-frequency oscillation of control signal. Finally , the simulation results and their analy- sis show preliminarily that the designed controller can control the tracking error achieve and can asymptotical con- vergence and good tracking and that it also verifies robustness to bounded uncertainty and disturbance.