电光与控制, 2014, 21(7): 19, 网络出版: 2014-07-01

飞翼无人机的一种鲁棒自适应控制律设计方法

A Robust Adaptive Control Law Design Method for Flying-Wing UAV
作者单位

南京航空航天大学自动化学院, 南京210016

摘要
针对飞翼无人机纵向全包线飞行时非线性特性明显和操纵效率变化显著的问题, 采用鲁棒伺服LQR(RSLQR)与L1自适应相结合的综合自适应控制方法(RSLQR-L1), 以C*(加速度、角速率)为被控变量, 设计了飞翼无人机纵向飞行控制系统。结合无人机实际飞行控制品质需求, 采用RSLQR方法, 设计无人机纵向主控制器;在RSLQR控制器的基本结构上扩展设计L1自适应输出反馈补偿控制器。在系统阐述RSLQR-L1综合自适应控制原理和设计方法的基础上, 通过数值仿真验证了控制结构的先进性和鲁棒性, 满足了飞翼无人机的控制要求。
Abstract
To solve the problems of nonlinearity and obviously changed manipulating efficiency in flight of UAV, a longitudinal control law is designed for a Flying-wing UAV, which is the integrating of Robustness Servomechanism Linear Quadratic Regulator(RSLQR) and L1 adaptive control method.The controlled variable is chosen as C*, which is a combination of longitudinal acceleration and pitch rate.The baseline controller is based on RSLQR method to fit the control requirement of the UAV.The controller is augmented by L1 adaptive output feedback structure to maintain the desired close-loop system characteristics in the presence of the aerodynamic uncertainties and the significant change of the elevator coefficient caused by the transformation of flight state.This paper summarizes the theory, the design, simulation testing and flight test results using a RSLQR-L1 method, which validates the performance and the robustness of the designed control system.
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