基于非线性动态逆的UAV航迹鲁棒跟踪控制研究

Study on Robust UAV Trajectory Tracking Control Based on Nonlinear Dynamic Inversion

针对UAV执行复杂任务产生的航迹规划制定困难的问题,利用PH(Pythagorean Hodograph)曲线曲率精确可知及其为参数化曲线的特点,建立了UAV航迹跟踪控制的运动学模型,给出了一种基于非线性动态逆的鲁棒自适应跟踪控制器设计方法。根据非线性动态逆跟踪控制方法,设计了UAV航迹的跟踪控制律;考虑风等干扰因素的影响,采用RBF神经网络对干扰进行在线估计并补偿,引入鲁棒自适应控制项,克服干扰误差。根据PH曲线航迹规划特点设计控制器,降低了控制器设计的复杂程度,提高了计算和跟踪效率。仿真结果表明,设计的鲁棒自适应跟踪控制器具有较高的跟踪精度及很强的鲁棒性。

The UAV track following control is difficult to plan when the UAV carries out a complex task. Considering the PH curve＇ s characteristic of exact curvature and parameterization, the kinematics model of UAV track following control is established, and a robust adaptive tracking controller design method based on nonlinear dynamic inversion is proposed. The UAV trajectory tracking control law is designed which is based on the nonlinear dynamic inverse tracking control method. Considering the interference factors such as wind, the RBF neural network is used to estimate the interference online. The robust adaptive control method is introduced to overcome the interference error. Designing the controller which considers the characteristic of the PH curve can reduce the complexity of the controller and improve the efficiency of calculation and tracking. The simulation results show that the designed robust adaptive tracking controller has high tracking accuracy and strong robustness.