微型无人直升机自适应路径跟踪控制

针对微型无人直升机惯性参数不确定并受外部扰动的情况，提出了一种新的自适应路径跟踪控制方法。该控制方法采用了双回路结构，外回路结合无人直升机的特点，设计了基于制导律的路径跟踪控制器，通过控制无人直升机升力和姿态完成对期望路径和期望速度的跟踪；内回路设计了基于L₁自适应算法的姿态控制器，经自适应律对惯性参数以及外部扰动进行实施估计和补偿，通过控制无人直升机的力矩达到跟踪期望姿态的目的。双回路控制器能够避免设计欠驱动系统带来的问题和困难，并由时标分离原理，能够证明有惯性参数不确定性和扰动情况下的系统跟踪误差一致有界。最后，对所设计的控制方法进行了数值仿真与飞行实验，验证了控制算法的可行性和性能。

Adaptive Path-following Control for Miniature Autonomous Helicopter

A novel adaptive path following controller was presented for a miniature autonomous helicopter with uncertain inertial parameters and external disturbance. It was implemented by using dual-loop structure, including an outer-loop for path following and an inner-loop for attitude control. The outer-loop controlled the attitude angles and lift forces to track the expected path and velocity, and the inner-loop was designed as a attitude controller based on L₁ adaptive controller. The uncertain inertial parameters were and external disturbance were also compensated online by using parameter adaptive update laws in the inner-loop. The stability analysis for the inner- and outer-loop was provided separately and the closed-loop stability analysis was given on the basis of time-scale separation assumption. Finally, a simulation and a flight test were carried out. The results demonstrate that the feasibility and performance of the proposed controller.