基于LESO状态反馈的无人机速度控制

无人机速度回路的控制受外界环境、构型变换等不确定性干扰因素的影响较大，采用基于线性扩张状态观测器（LESO）的自抗扰控制方法能准确估计并补偿不确定性干扰，在观测器的基础上加入状态反馈和指令前馈，能获得良好的稳态、动态品质。性能分析与仿真结果表明，基于LESO状态反馈的无人机速度控制方法具有良好的干扰抑制能力，能够实现对控制指令的精确跟踪。

Airspeed Control System Design for UAV Based on LESO State Feedback

Considering the influence brought by the uncertainty of the UAV airspeed control loop which results from the complicated aviation environment and flight configuration changing process, an auto disturbance rejection control method based on LESO (Linear Extended State Observer) is used to estimate the unknown disturbance and perform compensation in real time. By adding the state feedback and command feedforward to LESO, the airspeed control system can obtain high quality of steady and dynamic states. The analysis and simulation results show that the UAV airspeed control system based on LESO state feedback can track the control command precisely with good performance against disturbance.