基于浸入—不变集的三旋翼无人机高度系统自适应控制器设计

针对三旋翼无人机的研究集中于数学模型分析、简单的控制算法设计等起步阶段，且高度系统空气阻尼系数未知的情况，研究了三旋翼无人机高度系统的控制问题。基于浸入—不变集方法设计了一种控制三旋翼无人机跟踪目标高度的自适应控制器，根据三旋翼无人机飞行运动特点，推导了三旋翼无人机运动数学模型，完成了控制器参数设计和气动参数选择，采用Lyapunov分析方法对所设计控制器的渐近稳定性进行了理论证明，并对未知空气阻尼系数进行了在线估计，最终在三旋翼无人机实验平台上在环仿真实验验证。实验结果表明，高度跟踪误差在0-6秒可较好地趋于收敛，控制阻尼系数估计值也较好地收敛于合理的范围，表明该算法稳态误差小，收敛速度快，具有较好的控制性能和较强的实用性。

Design of adaptive controller for height system of three rotor UAV based on immersion invariant set

Aiming at the situation that the research of the three rotor UAV focuses on the initial stage of mathematical model analysis and simple control algorithm design, and the air damping coefficient of the height system is unknown, the control problem of the height system of the three rotor UAV is studied. Based on the immersion invariant set method, an adaptive controller is designed to control the target tracking height of the three rotor UAV. According to the flight characteristics of the three rotor UAV, the mathematical model of the three rotor UAV motion is derived, and the controller parameter design and aerodynamic parameter selection are completed. The Lyapunov analysis method is used to prove the asymptotic stability of the controller, the unknown air damping coefficient is estimated on-line, and finally verified in the ring simulation experiment on the three rotor UAV experimental platform. The experimental results show that the height tracking error converges well in 0-6 seconds, and the estimated value of control damping coefficient converges well in a reasonable range. It shows that the algorithm has small steady-state error, fast convergence speed, good control performance and strong practicability.