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针对一类常规布局的小型无人飞行器(MUAV)定点飞行任务中存在的模型精度低受扰因素多的问题,提出了基于扰动观测器控制(DOBC)与H∞优化的MUAV抗干扰控制方法,有效地实现了在谐波和阵风扰动情况下对MUAV的稳定控制。文中首先建立了在阵风扰动情况下MUAV的动力学模型,在此基础上通过将DOBC与H∞控制方法相结合,使得MUAV闭环系统在没有干扰信号时渐近稳定,在有扰动信号时满足H∞控制性能指标要求。仿真结果表明,本文提出的控制算法能有效抑制MUAV多源扰动的影响,且可获得良好的动态跟踪性能。
Aiming at the problem of low precision of model disturbance in a type of small-scale unmanned aerial vehicle (MUAV) fixed-point mission with a conventional layout, a MUAV anti-jamming control method based on disturbance observer control (DOBC) and H∞ optimization is proposed. It effectively achieves the stable control of MUAV under the condition of harmonic and gust disturbance. In this paper, the dynamic model of MUAV under gust disturbance is first established. Based on this, the closed-loop system of MUAV is made asymptotically stable in the absence of interfering signals by combining DOBC and H∞control methods. When disturbing signals are satisfied, H ∞ control performance index requirements. The simulation results show that the proposed control algorithm can effectively suppress the influence of MUAV multi-source disturbance and obtain good dynamic tracking performance.