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本文基于浸入–不变集理论,针对小型无人直升机存在的参数不确定性问题,设计一种新型的自适应控制器.利用基于Lyapunov的分析方法和La Salle不变性原理,进行闭环系统的稳定性分析,确保无人直升机姿态角的跟踪误差全局渐进收敛,以及闭环系统的稳定性.在无人直升机姿态飞行控制实验平台上,进行了无人机姿态跟踪控制实验.实验结果表明,本文所提出的控制方法具有良好的跟踪控制效果.
In this paper, based on Immersion-invariant set theory, a new adaptive controller is designed for the parameter uncertainties of small unmanned helicopters. The stability of the closed-loop system is achieved by the Lyapunov-based analysis method and La Salle invariance principle The global asymptotic convergence of the tracking error of the attitude angle of the unmanned helicopter, and the stability of the closed-loop system were investigated by using the attitude analysis method and the attitude control of the unmanned helicopter attitude control.According to the experimental results, The proposed control method has a good tracking control effect.