摘要
将无人机对理想着陆轨迹精确跟踪能力和抗干扰能力的要求分开考虑,从精确输出跟踪和鲁棒性两个角度综合自主着陆控制律。针对着陆过程中动态方程的非最小相位特性,利用在线稳定逆产生用于着陆轨迹精确跟踪的前馈输入和状态参考轨迹。将建模误差等不确定性和外干扰看成为广义干扰,利用一个构造性的非线性干扰观测器对其进行观测。在干扰观测器的基础上设计滑模控制器对状态参考轨迹跟踪的误差系统进行鲁棒镇定。仿真结果表明,设计的自主着陆控制律能精确跟踪理想着陆轨迹,并有很好的鲁棒性和抗干扰性。
Taking the problem of autonomous precise landing as an integration of trajectory tracking and robust control, precise landing control law was designed based on online stable inversion and SMC. The feed forward input and the reference states trajectory for landing trajectory tracking were obtained from online stable inversion. The feedback input to guarantee ihe robust capability was obtained from an observer-based SMC controller designed for the error system of tracking the reference states trajectory. In the observer-based SMC controller, uncertainties and disturbances were cancelled by the estimated value from a disturbance observer. The simulation results show that the control law can precisely track the landing trajectory and is robust.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第3期743-748,共6页
Journal of System Simulation
基金
武器装备基金(9140A25040106HK0118)
关键词
自主着陆
轨迹精确跟踪
在线稳定逆
干扰观测器
滑模控制
autonomous landing
precise trajectory tracking
online stable inversion
SMC
disturbance observer
