飞翼无人机机动飞行非线性反步控制律设计

飞翼布局无人机具有操纵能力不足、非线性和耦合性强的特点。传统的反步控制方法能够提高飞翼 无人机系统的鲁棒性,但是存在奇异值计算、保守性等问题。本文提出一种改进的反步控制方法。建立飞翼无 人机仿射非线性模型,运用该方法进行鲁棒控制器设计,并进行仿真验证分析。结果表明:该方法解决了传统 反步控制方法所具有的奇异值计算、保守些问题,突破现有鲁棒设计方法对系统不确定性范数上界已知要求的 限制,所设计的控制器鲁棒性较高。

Design of Nonlinear Backstepping Controller for Flying Wing UAV Maneuvering Flight

A backstepping nonlinear robust control method is proposed to overcome the shortcomings of unmanned control ability, nonlinearity and strong coupling of flying wing UAV. This improved Backstepping method, which not only eliminates the influence of nonlinearity, but also guarantees the stability and robustness of the system. This method breaks through the limitation of many robust design methods that the upper bound of uncertainty norm is known, makes full use of the known uncertainty information of the system to improve the performance of the system, and solves the singular value calculation and conservation problems of the traditional Backstepping method. The simulation results show that the control method is reasonable and effective.