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为实现无人翼伞飞行器的直线航迹跟踪控制,提出了一种基于模拟对象的可变增益反步跟踪控制方法。基于模拟对象方法得到翼伞飞行器的航迹跟踪误差模型,并针对该模型设计了可变增益反步跟踪控制律,在保证稳定性的同时提高了系统的跟踪精度。将控制器应用于无人翼伞飞行器平面航迹跟踪控制中,仿真实验表明,所设计的控制器可以实现航迹的精确跟踪,且具有很好的鲁棒性。
In order to realize the tracking control of the flight path of UAV, a variable gain backstepping control method based on simulation object is proposed. The trajectory tracking error model of the wing-wing aircraft is obtained based on the simulation object method. A variable-gain backstepping tracking control law is designed for the model, which improves the tracking accuracy of the system while ensuring the stability. The controller is applied to plane track tracking control of unmanned airfoil aircraft. The simulation results show that the designed controller can track the track accurately and has good robustness.