摘要
针对无人机模型不确定性和非线性干扰因素对飞行控制性能的影响,采用一种新型的L_1自适应控制方法进行纵向阻尼控制。首先根据无人机的纵向气动特性,建立了包含模型不确定性和干扰的俯仰角速率非线性动力学模型,然后根据L_1自适应控制理论设计自适应律和带宽合适的低通滤波器,最后对所设计的控制系统进行了仿真验证。结果表明:在系统不确定性和高频干扰的情况下,所设计的控制系统能在保证系统快速性的同时,对外界不确定性和干扰具有较强的鲁棒自适应性,可使跟踪误差快速收敛且瞬态性能优异。
Considering the influence of model uncertainty and high frequency on the performance of the flight control system,this paper presents a L_1 adaptive control theory to control longitudinal damping. The pitch rate nonlinear models is firstly set up according to the characteristic of longitudinal aerodynamic characteristics of UAV,including uncertainty and high frequency disturbance,and then the adaptive laws and bandwidth-suitable low pass filter are designed according to the L_1 adaptive control theory. Finally,the control system is simulated and verified. The results show that under the model uncertainty and high frequency disturbance,the L_1 adaptive controller can not only guarantee the system rapidity,but also has good transient performance.
出处
《飞行力学》
CSCD
北大核心
2015年第6期523-526,共4页
Flight Dynamics
基金
国家自然科学基金资助(61374032)
关键词
L1自适应控制
纵向阻尼
无人机
滤波器
L1 adaptive control
longitudinal damping
unmanned aerial vehicle
filter
