摘要
针对外部干扰影响下无人直升机(Unmanned aerial helicopter,UAH)模型参考跟踪控制问题开展研究,提出基于自适应干扰观测器的跟踪控制设计方案。首先,根据干扰部分可测特性将其建模为存在参数误差下的非线性外源系统,并设计了状态观测器及其自适应调节下的干扰观测器(Disturbance observer,DO),用于估计无人机系统的未知状态和外部干扰。其次,将模型参考控制与基于干扰观测器的控制方法相结合,提出抗干扰复合控制设计策略,获得了由观测与跟踪误差动态组成的闭环系统。再次,利用Lyapunov稳定性理论建立了给定H∞性能下判定闭环系统渐近稳定的充分性条件,并借助矩阵变换技术获得了观测器和控制器的联合设计方案。最后,通过数值仿真验证了所提跟踪控制算法的有效性和优越性。
The reference model tracking control of an unmanned aerial helicopter(UAH)under outside disturbance is studied,and a tracking control scheme based on the adaptive disturbance observer is proposed.Firstly,the disturbance is modelled as a nonlinear exogenous system with uncertain parameter error based on the available information.Secondly,a state observer and an adaptive disturbance observer(DO)are proposed to estimate the unmeasurable state and disturbance of the UAH system.Thirdly,by combining the reference model control and DO-based control,a composite anti-disturbance control scheme is presented to derive an overall closed-loop system consisting of tracking error and observer error.Fourthly,based on the Lyapunov stability theory,a sufficient condition on H∞performance index and asymptotic stability is obtained,and a co-design method of the observers,controller,and adaptive law is proposed by resorting to matrix transformation.Finally,numerical simulations demonstrate the effectiveness and superiority of the proposed tracking control algorithm.
作者
潘世豪
王婷
张浩然
李涛
PAN Shihao;WANG Ting;ZHANG Haoran;LI Tao(College of Automation Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 211106,China;School of Information Science and Technology,Nanjing Forestry University,Nanjing 210037,China)
出处
《南京航空航天大学学报》
CAS
CSCD
北大核心
2023年第6期977-987,共11页
Journal of Nanjing University of Aeronautics & Astronautics
基金
国家自然科学基金(62073164,61922042)。
关键词
无人直升机
模型参考跟踪控制
自适应干扰观测器
抗干扰复合控制器
H∞控制
unmanned autonomous helicopter
model reference tracking control
adaptive disturbance observer
composite anti-disturbance controller
H∞control
