小型无人直升机的广义Hamilton非线性鲁棒控制

Generalized Hamilton nonlinear robust control for miniature unmanned helicopters

提出一种新的广义Hamilton非线性鲁棒控制系统研究小型无人直升机轨迹跟踪控制问题。首先建立无人直升机非线性动力学模型,模型控制输入量的非线性函数。基于Hamilton控制方法设计无人机非线性鲁棒控制器,构造系统的Hamilton能量函数,通过预置反馈完成系统Hamilton实现。选择反馈控制矩阵和控制输入量得到无人直升机的非线性鲁棒控制算法,给出了非线性控制系统满足对不确定参数干扰和外部气动干扰抑制性能的充分条件。仿真和实验结果证明提出的控制系统正确可行,改善了无人直升机的鲁棒性能。

A new generalized Hamilton nonlinear robust control system is proposed for the trajectory tracking control problem of small unmanned helicopters. Firstly the dynamic nonlinear model is established for unmanned helicopters,which is a nonlinear function of the control input. Then the nonlinear robust controller is designed based on the Hamilton control method. Hamilton energy function is constructed. Hamilton implementation is realized for the whole system by the preset feedback. The choice of feedback control matrix and the control input are based on the generalized Hamilton nonlinear control method for the unmanned helicopter. The sufficient conditions of the robust nonlinear control system are provided to meet the performance of uncertain parameter interference suppression and external aerodynamic interference suppression. Finally,the simulation and experiment results prove that the proposed control system is correct and feasible. It can improve the robust performance of the unmanned helicopter system.