舰载无人机横侧向着舰控制律设计

舰载无人机横侧向控制一直是着舰控制律设计的难点。为了解决着舰横侧向控制的难题,针对舰载无人机的非线性模型采用了反演控制器设计方法,为解决传统反演的计算膨胀问题,引入了指令滤波方法,同时只设计了一个Lyapunov函数证明了稳定性;由于舰载机动力学模型不能精确获得,采用了自适应方法对其进行估计。设计的横侧向着舰控制器,能较好地解决横侧向控制器设计过程中的耦合问题,并且和传统PID进行了仿真对比,证明了所设计的控制律满足了对参考信号跟踪的性能要求。

Design of carrier UAV lateral/di rectional landing control law

Carrier UAV lateral/ directional landing has been one of the difficulties in control design.To solve this problem, the nonlinear model for the carrier UAV is solved by the backstepping method.To solve the 'problem of expansion'of tradi-tional backstepping method,the command filtered method is introduced,and only one Lyapunov function is designed to prove the stability.In addition,for the carrier UAV model can not be obtained accurately,the adaptive method is adopted to esti-mate it.The designed controller can better solve the coupling problem in lateral/directional control.A comparison with the traditional PID simulation shows that the control law in this paper can meet the requirements for the performance of reference signal tracking.