飞翼无人机机动飞行非线性鲁棒控制方法

针对飞翼布局无人机操纵能力不足的特点，提出了结合流体矢量（FTV-E）控制技术控制策略。设计了内环补偿器以消除系统不利的耦合项，外环控制器采用了反步跟踪算法，并采用粒子群优化（PSO）补偿器补偿各种扰动和不可建模的耦合项的控制方案，证明了控制结构的稳定性。在传统反步控制方法的基础上，增加了内环补偿器。该内环补偿器保留了对飞行有利的气动阻尼项，降低外环控制器的保守性，方便工程实现。仿真结果显示，该控制方案是有效的。

Nonlinear robust control method for maneuver flight of flying wing UAV

As flying wing UAV lacks manipulating ability, a control strategy combined with fluidic thrust vectoring-turbocharged engine ( FTV-E ) technology is proposed.In this paper, the control scheme is de-signed: the inner loop compensator is used to eliminate the negative coupling term of system; the outer loop compensator used backstepping tracking algorithm; the particle swarm optimization ( PSO ) compensator to compensate the disturbance and coupling term that cannot be modeled.The control structure ' s stability is proved.Based on the traditional backstepping control methods, the proposed controller increases the inner loop compensator.The proposed inner loop compensator retains the aerodynamic damping term which is favora-ble to flight.This compensator not only can reduce the conservatism of the outer loop controller, but also is convenient for engineering realization.The simulation results show that the proposed control scheme is effec-tive.