基于谐波观测器的无人直升机复合非线性模型预测控制

Composite Nonlinear Model Predictive Control Based on Harmonic Observer for Unmanned Helicopters

针对受到干扰影响的无人直升机轨迹跟踪问题,提出一种基于谐波观测器的复合非线性模型预测控制方案。将无人直升机的轨迹跟踪问题转换为对位置指令和姿态指令的跟踪问题;设计谐波干扰观测器以实现对周期性干扰的估计;结合干扰估计信息,基于非线性模型预测控制算法设计复合非线性模型预测控制器;基于某小型无人机模型,在MATLAB仿真环境下测试了所提方案。仿真结果表明,方案实现了周期性干扰的有效抑制,保证了无人直升机轨迹的高精度跟踪。

As for the trajectory tracking problem of unmanned helicopters impacted by the disturbances,a composite nonlinear model predictive control scheme based on a harmonic observer is proposed.Firstly,the trajectory tracking problem is transformed into the tracking problems of position and attitude commands.And then,a harmonic disturbance observer is designed to estimate the periodic disturbances.The composite nonlinear model predictive controller is designed based on the nonlinear model predictive control algorithm combining estimation information.Finally,the proposed scheme is tested on a practical small-scaled helicopter under the simulation environment of MATLAB.The simulation results indicate that the proposed scheme not only achieves effective suppression of periodic disturbances,but also guarantees the high-precision trajectory tracking of unmanned helicopters.