基于角速率的低配置小型无人机高度控制律设计

采用鲁棒伺服最优控制方法（RSLQR，Robust Servo Linear Quadratic Regulator）设计了基于角速率的某小型无人机高度控制律。该方法将鲁棒指标和时域控制品质相融合，将跟踪误差扩展到系统动态模型中，利用线性二次型最优控制理论，设计了控制律结构和参数，实现了高度的无静差控制，保障了控制器的鲁棒性能。与常规控制器对比结果表明：基于角速率的控制器具有良好的高度跟踪效果和抗干扰能力，满足了小型低配置无人机的飞行控制要求。

Altitude Control Based on Pitch Rate for Small UAV with Low Sensor Configuration

The Altitude controller based pitch rate is developed by optimization theory of robust servo Linear Quadratic regulator (RSLQR) for a small UAV. The RSLQR technique uses a linear model of the plant to create a modified model that introduces pitch rate error integral control in y-axis, and allows command following for the desired variables. At the same time, theoretical robust performances and qualities of controller are guaranteed. Compared with classical law, the simulation results show that the controller can track altitude with small error and is not sensitive to some extern disturbance, and it meets the control requirement of a small UAV with low sensor configuration.