微小型直升机非线性鲁棒控制器设计

针对含有未建模动态的微小型直升机非线性模型,设计了基于反步法和自适应模糊系统的自主飞行控制器.该控制器包含两个回路:航迹控制外回路和姿态控制内回路.外回路通过旋转矩阵实现对内回路姿态的控制,而非传统的欧拉角或姿态四元数.控制器采用自适应Takagi-Sugeno(TS)模糊系统在线补偿系统未建模动态的影响,并利用反步法完成控制器综合.所设计的算法在确保整个控制系统稳定性的同时又可保证系统能够有效应对未建模动态的影响.系统仿真结果表明,在盘旋上升飞行模态下控制系统能够快速准确地跟踪预设轨迹,并且具有良好的鲁棒性能.

Robust Nonlinear Controller Design for Miniature Helicopters

Considering miniature helicopters'' nonlinear model with modeling uncertainties, an autonomous flight controller was designed by combining backstepping design and adaptive fuzzy systems. The controller included two loops: trajectory control outer loop and attitude control inner loop. The outer loop controlled the inner loop by rotation matrix, instead of Euler angles or attitude quaternions. First, the adaptive Takagi-Sugeno fuzzy system was employed to compensate for the effect of unmodeled dynamics. Then, the controller synthesis were completed based on the backstepping design. The control algorithm not only can ensure the stability of the overall closed-loop system, but also can deal with the effect of unmodeled dynamics effectively. Simulation results show that the control system can track the predefined trajectories quickly and accurately in the spiral flight mode, and meanwhile demonstrate good robustness