无人机机动轨迹跟踪系统设计

对无人机机动飞行轨迹跟踪系统的内环姿态控制律和外环轨迹跟踪控制律两部分分别进行了设计。利用非线性动态逆方法设计了内环姿态控制律。外环轨迹跟踪控制律采用逆动力学前馈加模糊反馈的控制结构,提高系统对飞行条件及期望轨迹剧烈变化时的跟踪精度。仿真结果表明,所设计的系统能够控制无人机精确跟踪指定的机动轨迹,且相对于固定增益系统具有更好的鲁棒性。

UAV Maneuver Trajectory Tracking System Design

An UAV maneuver flight trajectory tracking system consists of a guidance law as an outer loop and a flight control as an inner loop.Dynamic inversion is adopted to design the inner loop attitude control law.The outer loop guidance law includes feedforward and feedback control parts.The feedforward part is obtained using the inverse dynamics method and fuzzy control used to adjust the feedback gains depending on the flight conditions and desired severe trajectory.The numerical simulation result shows that the trajectory tracking system is able to control the UAV to track the desired maneuver trajectory accurately and has better robustness than the fixed feedback gains one.