基于BACKSTEPPING的无人机飞控系统设计研究

基于状态反馈，利用BACKSTEPPING思想设计了无人机非线性自适应控制器。本文首先从非线性反馈线性化的理论缺陷出发，指出了新近兴起的BACKSTEPPNG思想的优越性，并对输入输出可反馈线性化系统的自适应控制问题进行了理论描述。本文BACKSTEEPING自适应设计过程的贡献在于提出了一种混合式的李雅普诺夫函数，它同一般的基于二次型的李雅普诺夫函数的不同在于最终导出的自适应律只含有广义误差状态的符号信息，这在一定程度上提高了系统的容错性。自适应控制算法的收敛性得到了严格的数学证明。最后对某型无人机的仿真分析表明自适应飞控系统设计是有效的。

Design of Adaptive BACKSTEPPING Flight Control System of UAV

A nonlinear adaptive controller applied to UAV is desig ned using BACKSTEPPING approach with full state feedback. Compared with the wea kness of the nonlinear feedback linearizing method, the advantage of using backs tepping approach is presented. The adaptive control problem of input-output fee dback lineariable system is described also. The main contribution to the designi ng process in this paper lies in its mixed type Lyapunov function. The differenc e between this function and others is that the adaptive control rules deduced fr om it contains only the signs of the general error state. In some degree it can improve the fault tolerant ability. The convergence of the adaptive control algo rithm is strictly proved. Finally, the simulational analysis by using this meth od shows that the adaptive flight control system is effective.