基于H∞鲁棒动态逆的无人机着舰纵向控制系统设计

Design of unmanned aircraft landing vertical control systembased on H∞robust dynamic inverse

针对舰载无人机着舰的纵向鲁棒控制问题,提出基于H∞最优控制理论和动态逆的控制系统设计方法。该方法考虑了舰尾流扰动和无人机机载传感器测量噪声的影响,以动态逆控制器作为主控制回路,以H∞最优滤波器对机载传感器测量噪声进行滤波,以H∞输出反馈控制器补偿舰尾流扰动的影响。仿真结果表明,所设计的控制系统具有良好的鲁棒性和跟踪特性,在舰尾流扰动和无人机机载传感器测量噪声的影响下仍具有良好的速度保持和轨迹跟踪能力,验证了该方法的有效性。

Aiming at the problem of longitudinal robust control of ship-borne unmanned aerial vehicles,a control system design method based on H∞optimal control theory and dynamic inverse is proposed.The method considers the influence of ship wake disturbance and the measurement noise of the unmanned aerial vehicle sensor.The dynamic inverse controller is used as the main control loop,and the H∞optimal filter is used to filter the airborne sensor measurement noise,and the H∞output feedback controller is used to compensate the influence of the ship wake disturbance.The simulation results show that the designed control system has good robustness and tracking characteristics.It still has good speed maintenance and trajectory tracking ability under the influence of ship wake disturbance and UAV airborne sensor measurement noise,which verifies the effectiveness of the method.