飞翼布局无人机反演自抗扰姿态控制

Flying-wing attitude control based on backstepping and active disturbance rejection control

针对飞翼布局无人机模型强非线性、大不确定性及多变量强耦合等问题,设计了基于块控反演控制技术的姿态控制律,并采用自抗扰控制中的线性扩张状态观测器实现了对模型总不确定性的估计。为解决因阻力方向舵舵效非线性以及舵环节指令跟踪延迟造成控制系统动态性能下降的问题,采用函数拟合法解算阻力方向舵舵偏指令,并利用二阶振荡环节对观测器进行抗时滞处理。仿真结果表明,所设计的姿态控制律能够使飞翼布局无人机准确跟踪姿态指令,并具备较强的鲁棒性与良好的动态性能。

Due to the multivariable and strong coupling flying-wing UAV model with strong-nonlinearity and uncertainty,an attitude control law based on block backstepping for flying-wing UAV is designed.The linear extension state observer of active disturbance rejection control theory is used to estimate the uncertainties. For avoiding the influence of nonlinear effect of drag rudder and time-delay of actuator on system dynamic properties,the function fitting is used to calculate the control signle of the drag rudder,and second-order oscillation element is applied to anti-time-delay measurement. The simulation results show that the attitude control law makes the UAV follow attitude command accurately with strong robustness and good dynamic properties.