变质心固定翼无人机动力学分析与抗扰控制

变质心无人机具有气动效率更高、隐身性能更好、机翼结构更加简单等优点。提出了时滞更小、结构更加简单的单滑块变质心无人机布局方案，分析了滑块参数对变质心无人机动力学特性的影响，在此基础上给出了滑块的理想安装位置，并研究了变质心无人机布局方案控制效率随速度的变化情况。针对变质心无人机强耦合、强非线性的特点，基于粒子群算法(PSO)设计了自抗扰控制器(ADRC)，其中扩张状态观测器估计出包含耦合和参数摄动的总和扰动项，并基于此进行动态补偿。仿真结果验证了所设计控制器的有效性和鲁棒性。 

Dynamic analysis and disturbance rejection control of mass-actuated fixed-wing UAV

Mass-actuated UAVs have the advantages of higher aerodynamic efficiency, better stealth performance and simpler wing structure. This paper proposes a single-slider mass-actuated UAV layout scheme with smaller time delay and simpler structure, and analyzes the influence of the slider parameters on the dynamical characteristics of the UAV. On this basis, the ideal installation position of the slider is given, and the change of the control efficiency of the mass-actuated scheme with the speed is studied. Aimed at the characteristics of strong coupling and nonlinearity of the mass-actuated UAV, an active disturbance rejection controller (ADRC) is designed based on the particle swarm optimization algorithm (PSO). The expanded state observer estimates the total disturbance term including coupling and parameter perturbation, and performs dynamical compensation at the same time. The simulation results confirm that the designed controller has good robustness and effectiveness.