基于模糊干扰观测器的无人机自主着陆逆控制器设计

针对具有显著非线性和不确定性的无人机自主着陆系统,提出基于模糊干扰观测器的非线性动态逆的控制方法,用于降低控制器对不确定性的要求。基于时标分离原则,将无人机自主着陆系统分为快回路、慢回路、非常慢回路和极慢回路,通过在快回路、慢回路和非常慢回路设计动态逆控制律使状态解耦,设计直线下滑和指数拉平的着陆轨迹,并在极慢回路进行跟踪。设计基于模糊系统的干扰观测器,以逼近外部干扰和内部不确定性等复合干扰,基于李雅普诺夫理论证明系统稳定性。最后给出了无人机自主着陆轨迹跟踪控制仿真,仿真结果表明设计控制器具有良好鲁棒性,完成无人机在外界干扰下的自主着陆控制。

Design of a Dynamic Inversion Flight Controller for UAV Landing Based on Fuzzy Disturbance Observer

For the obvious nonlinear and uncertain UAV auto-landing systema dynamic inverse control approach was presented based on Fuzzy Disturbance Observer (FDO) to reduce infection of uncertainty.According to the time scale separation principlethe UAV system was divided into fastslowslower and slowest loops.The dynamic inversion controller law was used to relieve coupling in fastslow and slower loopsthe line and exponent landing track was designedand followed by slowest loop.A disturbance observer was designed based on fuzzy logical system to approach outside disturbance and inner uncertaintyand the stability of the system was proved by using Lyapunov theorem.The control simulation result of UAV auto-landing is presented.The result shows that the controller is robustwhich can implement success auto-landing of UAV under outside interference.