论文部分内容阅读
针对干扰条件下的无人翼伞飞行器路径跟踪控制问题,提出一种基于非线性干扰观测器的反馈增益鲁棒反步控制方法.采用二阶跟踪-微分器设计干扰观测器对系统复合干扰进行估计和补偿,设计了反馈增益反步跟踪控制律,通过合理设计增益参数,消除了部分复杂非线性项,避免了虚拟量高阶导数问题,简化了控制器形式.根据Lyapunov理论设计鲁棒反馈补偿项,在保证稳定性的同时提高了系统的鲁棒性.仿真实验结果验证了所提出方法的有效性.
Aiming at the problem of path tracking control of unmanned airfoil under disturbed condition, a feedback robust gain backstepping control method based on non-linear disturbance observer is proposed. The second order tracking-differentiator is used to design the interference observer to the system complex interference Estimation and compensation, the backstepping control law of feedback gain is designed, and some complex nonlinear terms are eliminated by reasonably designing gain parameters, which avoids high-order derivative of imaginary quantities and simplifies the form of controller.According to Lyapunov theory, robust feedback The compensation term improves the robustness of the system while guaranteeing the stability.The simulation results verify the effectiveness of the proposed method.