基于参考观测器的无人直升机航迹跟踪控制

为实现无人直升机在工程应用中的精确航迹跟踪控制,从工程应用的角度提出基于参考观测器的航迹跟踪控制方法。根据航迹指令,通过参考观测器实时估算出无人直升机期望跟踪的状态量与控制量,作为航迹跟踪控制器的参考输入,再利用全状态反馈控制,操纵直升机跟踪期望的航迹,并以某型直升机为控制对象,在典型机动下进行航迹跟踪控制仿真验证。结果表明,该系统具有良好的航迹跟踪性能,且算法简单,易于实现。

Trajectory Tracking Control of Unmanned Helicopter Based on Reference Observer

A reference observer-based tracking control system is designed to achieve accurate trajectory tracking control in engineering application for an unmanned helicopter.According to the desired flight path,a real-time reference observer is developed to estimate the desired states and feed-forward control signals as the inputs of the tracking controller.Then the controller uses full-state feedback control method to realize trajectory tracking.A certain unmanned helicopter is chosen as the control plant,and the f...