弹性飞翼无人机鲁棒姿态控制设计

Robust attitude control design of elastic flying wing UAV

针对大展弦比飞翼布局无人机的刚体运动与弹性运动耦合动力学模型,提出了一种基于反步法的鲁棒非线性控制方法。该方法考虑了飞翼无人机的非线性因素,将动态面反步控制作为内环控制抵消系统的非线性因素;同时考虑系统实际存在的弹性耦合项、参数不确定项以及外部扰动,将内环反步控制与飞翼无人机模型整体作为新的被控对象,引入最优化理论对新的被控对象设计了外环鲁棒控制器。仿真结果表明,所提出的控制器不仅满足飞翼无人机姿态跟踪性能的要求,且对模型不确定性和气动弹性影响具有鲁棒性。

For rigid motion and elastic motion coupling dynamics model of high-aspect-ratio flying wing layout UAV. This paper proposes robust nonlinear control method based on backstepping. The paper takes nonlinear factors of flying wing UAV into consideration, which takes dynamic inversion control as the inner ring of the control system to counteract nonlinear factors in the system. Meanwhile, considering the elastic coupling, parameter uncertainties and external disturbances in the system, it takes dynamic in- version controller associated with nonlinear flying wing UAV coupling model as generalized controlled ob- ject. Optimization theory is applied to design the outer ring of the robust controller for the controlled ob- ject that is reconstructed and generalized. Simulation results indicates that the proposed controller design method not only meets the requirements of flying wing UAV attitude tracking performance, but also pos- sesses robust effect on model uncertainty and pneumatic elasticity.