《计算机应用研究》|Application Research of Computers

基于非线性块反步控制的无人直升机航迹跟踪算法研究

Research on trajectory tracking control of unmanned helicopter on nonlinear block back-stepping method

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作者 党松琳,代冀阳,应进,苏治锋
机构 南昌航空大学 信息工程学院,南昌 330063
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文章编号 1001-3695(2021)01-038-0190-08
DOI 10.19734/j.issn.1001-3695.2019.11.0610
摘要 针对小型无人直升机系统高度非线性、强耦合和易受内外部扰动干扰的特点,提出了一种非线性块反步控制与广义比例积分观测器相结合的控制策略。该方法采用广义比例积分观测器构建多阶观测回路对系统状态量、扰动量及扰动量的多阶导数进行估计,然后将扰动的估计值代入到直升机系统模型中,采用反步法回归递推得到直升机的跟踪飞行控制律。通过对阶跃信号和复杂“8”字形航迹的航迹跟踪仿真,结果表明:在多种内外部扰动影响下,所设计的控制律具有良好的动态响应和航迹跟踪性能以及抗干扰能力。相较于常规非线性扰动观测器,广义比例积分观测器对高阶和快速时变扰动具有更高的预估精度,可以达到更好的扰动抑制效果。
关键词 小型无人直升机; 非线性块反步控制; 广义比例积分观测器; 扰动抑制
基金项目 国家自然科学基金资助项目(61663032)
江西省自然科学基金资助项目(20151BAB207043)
江西省教育厅自然科学基金资助项目(DA201404278)
本文URL http://www.arocmag.com/article/01-2021-01-038.html
英文标题 Research on trajectory tracking control of unmanned helicopter on nonlinear block back-stepping method
作者英文名 Dang Songlin, Dai Jiyang, Ying Jin, Su Zhifeng
机构英文名 College of Information Engineering,Nanchang Hangkong University,Nanchang 330063,China
英文摘要 In view of the characteristics of the small-scale unmanned helicopter system which is highly nonlinear, strongly coupled and susceptible to internal and external disturbance, this paper proposed a control strategy combining nonlinear block back-stepping control with generalized proportional integral observer. In this method, at first, it used a generalized proportional integral observer to construct a multi-order observation loop and to estimate the system state variables, disturbances and the multi-order derivatives of disturbances, and then it added the estimated value of disturbance into the helicopter system model and adapted back-steeping method to obtain the tracking flight controller of the helicopter. Numerical simulation results of step signal and complex trajectory tracking show that, the designed controller has an ideal dynamic response performance, tracking capability and disturbance attenuation ability under the influence of various internal and external disturbances. Compared with the nonlinear disturbance observer, the generalized proportional integral observer has a higher estimation accuracy for high order and fast time-varying disturbances and achieves better disturbance suppression effects.
英文关键词 small-scale unmanned helicopter; nonlinear back-steeping controller; generalized proportional integral observer; disturbance suppression
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收稿日期 2019/11/22
修回日期 2020/1/3
页码 190-197
中图分类号 TP29
文献标志码 A