Issue |
JNWPU
Volume 36, Number 2, April 2018
|
|
---|---|---|
Page(s) | 382 - 387 | |
DOI | https://doi.org/10.1051/jnwpu/20183620382 | |
Published online | 03 July 2018 |
Attitude Stabilization and Trajectory Tracking Control Strategy for Civil UAV
民用无人机姿态稳定与航迹跟踪控制策略研究
中国民航飞行学院 飞行技术学院, 四川 广汉 618307
School of Flight Technology, Civil Aviation Flight University of China, Guanghan 618307, China
Received:
2
June
2017
To remove the funitional payload variation, the attitude oscillation and trajectory tracking error of civil UAV in complex environment, a combined inner and outer control strategy for the civil UAV is designed based on the interval system control theory and dynamic tracking error minimization principle, which can guarantee the attitude stabilization in inner loop and the heading tracking in outer loop, thus solving the control effect deterioration and trajectory error drawback of the existing UAV with large scale model variation. The simulation results show that, the proposed combined control strategy can keep flight state's stabilization and effective trajectory tracking with good closed-loop robustness. This study is useful to develop effective and automatic civil UAV system's flight control strategy.
摘要
针对民用无人机功能载荷多变及复杂环境下姿态振荡和航迹跟踪误差,采用区间系统控制理论和动态跟踪误差最小化原理,设计了一种民用无人机内外环分层控制策略,可分别实现内环姿态稳定和外环航向跟踪功能,进而解决现有无人机大范围模型变化的控制效果恶化和航迹误差缺陷。仿真结果表明,所采用的分层组合控制策略可以保证无人机飞行过程的状态稳定和有效的航迹跟踪精度,具有较高的闭环鲁棒性,有助于开发高效且自动化的民用无人机系统飞行控制策略。
Key words: civil UAV / flight attitude / interval system / stability control / trajectory tracking / control / unmanned aerial vehicles
关键字 : 民用无人机 / 飞行姿态 / 区间系统 / 稳定控制 / 航迹跟踪
© 2018 Journal of Northwestern Polytechnical University. All rights reserved.
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