输入时滞和外部干扰下的QUAV鲁棒最优飞行控制

Robust Optimal Flight Control for QUAV with Input Delay and External Disturbance

针对存在外部干扰以及输入时滞约束下的四旋翼无人机(Quadrotor Unmanned Aerial Vehicle,QUAV)系统,文中提出一种基于自适应动态规划方法的鲁棒最优轨迹跟踪控制策略。采用干扰观测器技术针对存在于位置环和姿态环的外部干扰进行估计;采用Padé逼近技术处理姿态环存在的输入时滞问题;在反步法框架下基于自适应动态规划算法设计最优鲁棒轨迹跟踪控制器;结合李雅普洛夫方法对整个闭环系统的稳定性进行分析,并针对QUAV动态模型开展数值仿真试验,验证所提鲁棒最优飞行控制方案的可靠性。

This paper proposes an adaptive dynamic programming(ADP)based robust optimal trajectory tracking strategy for quadrotor unmanned aerial vehicles(QUAV)with constraints of external disturbance and input delay.Firstly,disturbances observer technique is applied to estimate external disturbance in both position and attitude loops;Then,the input delay constraint is handled with Padéapproximate method;And a single network ADP algorithm based robust trajectory tracking strategy under backstepping farm is designed;Finally,Lyapunov method is applied for stability analysis of whole closed loop system,and simulation tests are carried out for QUAV dynamics model to verify the reliability of proposed robust optimal flight control strategy.