保护映射理论在火星无人机鲁棒自适应控制的应用

针对具有模型不确定性特点的火星无人机控制问题，本文基于保护映射理论提出一种飞行控制的鲁棒自适应调参数方法，通过建立控制系统未知参数与闭环系统极点间的约束关系，在飞行高度和速度变化的情况下，利用对系统极点的配置，保证火星无人机的稳定飞行要求。此外，设计过程中控制器结构固定，只需给定一个初始增益，即可实现系统的鲁棒自适应调参。仿真研究表明获取的增益能使控制作用满足火星无人机在高度和速度变化情况下的稳定飞行要求。

Application of Guardian Mapping Theory in Robust Adaptive Control of Mars Unmanned Vehicle

Consedering uncertainties of model characteristics of the Martian unmanned vehicle, a robust adaptive parameter regulation method with regard to the flight control is presented according to the guardian mapping theory in this paper. In this method, the constraint relation between unknown parameters of the controller and closed loop system poles is established. Under variations of flight altitude and speed, the closed loop system pole assignment is made to ensure stable flight of the Martian unmanned vehicle. Furthermore, in the design process, the controller structure is fixed. Thus, as long as an initial gain of the controller is given, the robust adaptive parameter adjustment of the system can be realized. The simulation result shows that gains given by this method can make control action meet the requirements for the stable flight of the Martian unmanned vehicle under variations of flight altitude and speed.