| 基于干扰观测器的无人机着陆飞行逆控制器设计 |
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| 引用本文： | 陈龙胜,姜长生.基于干扰观测器的无人机着陆飞行逆控制器设计[J].电光与控制,2009,16(9). |
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| 作者姓名： | 陈龙胜 姜长生 |
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| 作者单位： | 1. 南昌航空大学,南昌,330063;南京航空航天大学,南京,210016
2. 南京航空航天大学,南京,210016 |
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| 基金项目： | 航空基金(05C52007,20075152014);;江苏省自然科学基金(SBK20082815) |
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| 摘 要： | 基于干扰观测器设计了无人机着陆飞行逆控制器。根据时标分离的原则,将无人机系统分解为快慢不同的4个回路,采用动态逆的方法设计快回路、慢回路和非常慢回路控制器,并且在慢回路引入干扰观测器估计无人机所受的扰动和在线估计动态逆误差,降低控制器对干扰和模型精确度的要求,增强控制器的鲁棒性。仿真结果说明所设计的无人机着陆控制器是非常有效的。
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| 关 键 词： | 无人机 着陆控制 干扰观测器 动态逆控制 |
Design of Flight Inversion Controller for UAV Landing Based on Disturbance Observer |
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| CHEN Longsheng,JIANG Changsheng.Design of Flight Inversion Controller for UAV Landing Based on Disturbance Observer[J].Electronics Optics & Control,2009,16(9). |
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| Authors: | CHEN Longsheng JIANG Changsheng |
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| Institution: | 1.Nanchang Hangkong University;Nanchang330063;China;2.Nanjing University of Aeronautics and Astronautics;Nanjing210016;China |
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| Abstract: | A dynamic inverse controller is designed based on disturbance observer for landing control of Unmanned Aerial Vehicles(UAV).According to the time scale separation principle,the UAV system is divided into four subsystems.The dynamic inverse controllers are designed respectively for the "quick" loop,the "slow" loop and the "very slow" loop.The disturbance observer is used in the slow loop to evaluate the disturbance and to on-line estimate the model inversion error.It reduces the restrain conditions on distur... |
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