风扰影响下的无人机非线性广义最小方差跟踪控制

本文以鱼鹰型固定翼无人机为研究对象,基于非线性广义最小方差(nonlinear generalized minimum variance,NGMV)最优控制理论,研究了受到非线性阵风干扰影响下的无人机跟踪控制问题.首先对鱼鹰型无人机动力学模型解耦,在解耦后的横向和纵向模型上分别实现跟踪控制;然后针对阵风非线性模型的特定形式,根据NGMV理论设计了增维的非线性广义最小方差控制器,使得模型充分考虑了阵风干扰的特性.所设计的NGMV最优控制器的主要优势在于它能处理带有干扰和时滞环节的非线性系统.多组阵风扰动的仿真试验结果表明,非线性广义最小方差最优控制器具有跟踪性和收敛性.

Nonlinear generalized minimum variance tracking control of an unmanned aerial vehicle with wind disturbance

A nonlinear generalized minimum variance (NGMV) optimal controller is designed for the tracking control problem of osprey fixed wing unmanned aerial vehicle (UAV) where the system model includes uncertainties and nonlinear disturbances of wind. First, the dynamic model of osprey fixed wing UAV is decoupled into longitudinal and lateral modes. Then, the tracking controllers are designed for longitudinal and lateral modes respectively. Besides, in order to consider the nonlinear disturbance of wind, a NGMV controller is derived by increasing the dimension of the UAV system model. So the characteristics of the wind disturbance are fully considered by designing proper NGMV controller. One major advantage of the proposed controller is that it is not hard to extend this fig.3 method to handle general non-linear multivariable systems with disturbances and delay terms. Numerical simulation results are provided to demonstrate the performance of the proposed NGMV control law under the circumstances of a group of non-linear wind disturbances.