基于滑模的舰艇无人直升机悬停控制
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摘要
考虑到小型无人直升机在飞行过程中存在的不确定对无人直升机飞行控制性能的影响,设计了一种基于滑模的非线性鲁棒控制器。首先分析了悬停平衡条件下小型无人直升机的数学模型,然后通过设计滑模面,并结合标称系统的反馈增益,获得了滑模面的设计参数。在此基础上设计了基于指数趋近律的滑模控制器,并利用Lyapunov理论对整个系统的稳定性进行了分析。最后的仿真结果表明:给出的滑模控制策略能够有效地处理模型参数不确定对无人直升机飞行控制性能的影响,验证了该控制策略的有效性。
In view that the uncertainty of the small unmanned helicopter in flight could influence its flight control performance, a nonlinear robust control strategy based on sliding mode control is proposed. At first, the mathematical model of the small unmanned helicopter is analyzed under equilibrium conditions in hover. Then a sliding mode surface is designed whose parameters are obtained from the feedback gain of the nominal system. The sliding mode control law is designed based on the index reaching law, and the whole system's stability is analyzed by using Lyapunov theory. Simulation results show that the sliding mode control strategy can effectively deal with the parameter uncertainty's influence on unmanned helicopter's flight control performance, and verifies the effectiveness of the control strategy.
In view that the uncertainty of the small unmanned helicopter in flight could influence its flight control performance, a nonlinear robust control strategy based on sliding mode control is proposed. At first, the mathematical model of the small unmanned helicopter is analyzed under equilibrium conditions in hover. Then a sliding mode surface is designed whose parameters are obtained from the feedback gain of the nominal system. The sliding mode control law is designed based on the index reaching law, and the whole system's stability is analyzed by using Lyapunov theory. Simulation results show that the sliding mode control strategy can effectively deal with the parameter uncertainty's influence on unmanned helicopter's flight control performance, and verifies the effectiveness of the control strategy.
引文
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[2]Gao Guojiang,Lachapelle G.INSassisted high sensitivity GPS receivers for degraded signal navigation[C]//ION GNSS.Texas,USA,2006:2977-2989.
[3]王新龙,于洁.基于矢量跟踪的SINS/GPS深组合导航方法[J].中国惯性技术学报,2009,17(6):710-717.WANG Xin-long,YU Jie.Deeply SINS/GPS integrated navigation method based on vector tracking[J].Journal of Chinese Inertial Technology,2009,17(6):710-717.
[4]张敏虎,任章,华春红.UKF在深组合GPS/INS导航系统中的应用[J].中国惯性技术学报,2009,17(6):697-700.ZHANG Min-hu,REN Zhang,HUA Chun-hong.Application of UKF in deeply coupled GPS/INS navigation system[J].Journal of Chinese Inertial Technology,2009,17(6):697-700.
[5]Badu R,Wang Jinling.Ultra-tight GPS/INS/PL integration:A system concept and performance analysis[J].GPS Solutions,2009,13(1):75-82.
[6]Kim J W,Hwang D H,Lee S J.A deeply coupled GPS/INS integrated Kalman filter design using a linearized correlator output[C]//IEEE/ION,Position,Location,and Navigation Symposium.San Diego,California,2006:300-305.
[7]Dolecek G J,Mitra S K.On design of CIC decimation filter with improved response[C]//ISCCSP.Malta,2008:1072-1076.
[8]Badu R,Wang Jingling.Comparative study of interpolation techniques for ultra-tight integration of GPS/INS/PL sensors[J].Journal of Global Positioning Systems,2005,4(1):192-200.
[9]唐康华.GPS/MIMU嵌入式组合导航关键技术研究[D].长沙:国防科技大学,2008.TANG Kang-hua.Research on the key technology of embedded GPS/MIMU integrated navigation[D].Changsha:National University of Defense Technology,2008.
[10]Ohlmeyer E J.Analysis of an ultratightly coupled GPS/INS system in jamming[C]//IEEE/ION,Position,Location,and Navigation Symposium.San Diego,California:2006:44-53.