鲁棒动态逆控制在无人机姿态控制中的应用研究

针对无人机姿态控制提出了一种新的解决方案，设计了鲁棒动态逆控制器．利用非线性动态逆方法的精确线性化功能，将整个系统等效为一个已经解耦但存在不确定性的线性对象，再采用H∞回路成形方法进行设计．从而保证整个系统的鲁棒性。仿真结果表明，系统具有良好的动态性能、跟踪性能、解耦性能和鲁棒性能。

Application of Robust Dynamic Inversion in the UAV Attitude Control

This paper presents a new method of solving the attitude control for UAV. The robust dynamic inversion controller is firstly designed by using a non-linear dynamic means of a precision linearization function, which treats the whole system as an equivalent uncertainty linear object without coupling. After that the system is designed by using loop-shaping method in order to guarantee the robust performance. The results of simulation shows that the presented method makes the attitude control system to possess the excellent performance in dynamic, tracking, uncoupling and robust.