基于最小二乘支持向量机左右逆协同的无人机解耦控制

The cooperative decoupling control of unmanned aerial vehicle based on LSSVM left and right inversion

针对无人机飞行控制系统存在非线性耦合的问题,提出了一种基于最小二乘支持向量机(LSSVM)的左右逆协同解耦控制方法。该方法根据Interactor算法,通过对无人机系统输出进行微分,构建右逆系统,从而证明其可逆性。由于无人机右逆系统中存在旋翼桨叶总距俯仰角不可直接测量的局限,因而采用基于内含传感器左逆的方法间接测量,然后将其代入右逆系统中,得到左右逆协同控制器。最后利用最小二乘支持向量机建立左右逆协同控制器模型,并将其串联在原系统之前,与积分器共同构成伪线性复合系统实现无人机线性化与解耦。仿真结果显示,该方法对无人机垂直飞行的速度和旋翼桨叶总距俯仰角具有较高的解耦控制性能,对外部扰动具有良好的鲁棒性。

Aiming at the nonlinear coupling in flight control system of unmanned aerial vehicle,it proposes a cooperative decoupling control method based on LSSVM left and right inversion. Based on the Interactor arithmetic,it operates the differential of output from flight control system to obtain the right inversion system,and proves the invertibility of the system. Due to the existence of indirectly measured variables in the right inversion system,it uses an indirect measuring method based on inherent sensor left inversion to obtain collective pitch angle of the propeller,and puts the inherent sensor into the right inversion system to obtain the left and right inversion cooperative control system. It applies LSSVM to establish the cooperative control model,realizes the model cascades before the original system to build pseudo linear compound system along with the integrator,and obtains the linearization and decoupling of the UAV. Simulation shows that the method has better decoupling control performances for vertical flight velocity and collective pitch angle,and has strong robustness against external perturbation.