无人机自主低空突防航迹控制系统设计

设计了一种无人机自主低空突防航迹控制系统。提出了一种满足无人机低空突防要求的航迹预规划方法和航迹控制指令生成算法。针对动态逆方法需要被控对象精确数学模型的难点,在分析无人机误差动力学特性的基础上,采用神经网络在线动态补偿模型逆误差,并运用李亚普诺夫稳定性理论推导网络权值更新律,确保指令跟踪误差和网络权值的有界性。数字仿真结果表明,该系统满足无人机自主低空突防时航迹精确跟踪要求。

A flight trajectory control system designed for UAV in autonomous low-altitude penetration

A flight trajectory control system is designed for the use of UAV in its autonomous low-altitude penetration.A flight path pre-planning method and an algorithm for generating flight trajectory control instruction are put forward,which meet the need of low-altitude penetration.Since the dynamic inversion approach requires the accurate mathematic model of the controlled object,we analyzed the dynamic features of UAV's error,and adopted neural network to compensate dynamically the inversion error.Lyapunov Stability Theory was used for deducing the adaptation law of network weights,and to guarantee the boundedness of tracking errors and network weights.It is demonstrated by digital simulation that this system meet the requirement of trajectory control accurately for low altitude penetration.