无人机4D制导系统研究

基于逆运动学方法设计了无人机四维制导系统。基本姿态控制器采用基于在线神经网络的非线性动态逆控制器。动态逆控制器用来对消无人机的非线性，在线神经网络补偿对消不精确引起的状态误差。制导系统的任务就是由给定的三维航迹，解算出航迹角，并生成三个姿态角指令，同时设计发动机控制回路以控制航迹速度，最终实现精确的四维航迹跟随。

Study of 4D Guidance System for Uninhabited Aerial Vehicle

A 4D guidance system of uninhabited aerial vehicle (UAV) is presented based on inverse kinematics. The nonlinear dynamic inversion controller based on online neural net is adopted for the attitude control loop. The dynamic inversion controller is used to eliminate the nonlinearity and the online neural net is used to compensate the state error caused by the elimination imprecision. The whole work of the guidance loop is to resolve the flight path angle through the desired 3D position, and to generate the three attitude angle command. At the same time, the control loop of the throttle is also designed. Finally the precise 4D trajectory tracking is obtained.