基于辨识模型的无人机鲁棒飞行控制方法

Robust flight control law design method for unmanned aerial vehicle based on identification model

提出了一种基于系统辨识获取飞行动力学模型并进行鲁棒飞行控制律综合设计的方法。首先利用混合遗传粒子群优化算法,从真实试飞数据中辨识建立无人机动力学模型,然后基于随机鲁棒原理的设计方法和辨识模型,设计了无人机鲁棒飞行控制律。飞行试验验证表明,在无气动数据情况下所设计出的高性能鲁棒飞行控制律满足了无人机飞控研制的需求。

A robust flight control law integrated design method based on identification model is proposed.It firstly builds flight dynamic model of unmanned aerial vehicle（UAV）using system identification according to real flight data,which is based on hybrid genetic and particle swarm optimization algorithm.Then the robust flight control law is designed by using stochastic robust analysis and design method based on the model identified before.The success of small UAV flight test shows that the robust control law can be designed without aerodynamic parameter by the proposed method,which meets the demand of UAV flight control law design.