倾转式三旋翼无人飞行器抗扰非线性控制设计

Nonlinear disturbance-rejection control design for tilting tri-rotor UAV

针对倾转式三旋翼无人飞行器姿态和高度系统存在未知扰动和模型参数不确定性的问题,提出一种连续的非线性自适应鲁棒控制方法.该方法基于浸入-不变集原理估计模型未知参数,采用一种连续的鲁棒控制算法抑制未知扰动和补偿估计偏差.利用Lyapunov函数从理论上证明此方法能保证闭环系统的稳定性,并能实现飞行器姿态与高度控制误差的渐近收敛.最后通过实时实验结果验证所提出控制算法的有效性和鲁棒性.

A new disturbance-rejection continuous nonlinear control strategy is developed for the attitude and altitude channels of a tilting tri-rotor unmanned aerial vehicle（UAV）, which is subject to parametric uncertainties and unknown external disturbances. The proposed control algorithm is based on the immersion and invariance methodology which is used to provide estimation for the unknown system parameters. Then a continuous robust algorithm is combined to compensate for the unknown disturbances and parametric estimation errors. Lyapunov based stability analysis is presented to prove the stability of the closed loop system and asymptotic tracking results. Real-time experimental results are included to validate the performance and robustness of the proposed control development.