直升机自主抗干扰姿态控制方法

Active Disturbance Rejection Attitude Control Method for the Helicopter

针对存在模型参数偏差、外部干扰等多源模型不确定性情况下的直升机高性能姿态控制问题,提出了一种自主抗干扰姿态控制方法。采用扩张状态观测器实现了未知模型不确定性的在线自主观测,进而设计了具备自主抗干扰能力的直升机姿态控制方法,显著改善了多源不确定性情况下的姿态控制性能,并基于Lyapunov理论,给出了模型不确定性在线观测误差收敛性的理论证明。最终,通过数值仿真验证了所提自主抗干扰姿态控制方法的有效性。

An active disturbance rejection attitude control method for the helicopter was proposed to deal with the high-performance attitude control problem in the presence of multi-source model uncertainties such as model parameters errors,external disturbances and so on.The extended state observer was adopted to achieve the online autonomous observation of the unknown model uncertainties.Based on the observation results,an improved helicopter attitude controller was developed.The control performance was significantly improved.Moreover,the theoretical convergence analysis of the online observation errors of model uncertainties was presented based on the Lyapunov theory.Finally,numerical simulation results demonstrated the effectiveness of the proposed attitude control method.