基于干扰观测器的小型无人直升机H_∞飞行控制

H_∞ flight control for small unmanned helicopter based on disturbance observer

为了提高小型无人直升机飞行鲁棒控制性能,提出了一种基于干扰观测器的H_∞控制方法.将小型无人直升机系统分为纵向和横向通道且考虑输入干扰和外部噪声,并设计干扰观测器对外部系统产生的未知时变输入干扰进行逼近.在此基础上,利用干扰观测器的逼近输出,设计了小型无人直升机的H_∞控制器.仿真结果表明,本文方法具有良好的鲁棒控制性能.

In this paper,an H∞ control method based on disturbance observer is studied for the robust flight control of small unmanned helicopter.The small unmanned helicopter system is divided into vertical/horizontal channels by considering the input disturbance and external noise.Then the disturbance observer is designed to approximate the unknown time-varying input disturbance which is generated by the external system.On this basis of the designed disturbance observer,the H∞ controller of the small unmanned helicopter is designed by using the estimate output of the disturbance observer.The proposed method is applied to the flight control simulation of small helicopter,and the results show that the proposed method can achieve good robust control performance.