无人机非线性动态逆控制器的设计研究

针对现代无人机上采用非线性飞行控制的趋势,概述了动态逆方法的发展、特点及应用。结合无人机飞行控制特点,基于奇异摄动原理,将无人机非线性运动方程分解为快慢不同的3个模态,采用动态逆方法设计了无人机非线性状态逆控制器,仿真结果表明,动态逆控制器能够较好地实现对无人机的跟踪控制。

Gain-Scheduling Design of UAV Flight Controller

Aiming at the trend to use nonlinear flight control for modern UAV,the development,character and application are introduced in this article.Based on the character of UAV flight control and singular perturbation principle,UAV nonlinear kinematic equations are decomposed into 3 modes from fast to slow.The UAV nonlinear state inversion controller is designed through dynamic inversion method.Simulation results indicate that dynamic inversion controller can implement tracking control for UAV well.