论文:2015,Vol:33,Issue(1):40-44
引用本文:
薛静, 杨亚洁, 刘宇, 李刘涛. 基于L1自适应控制的无人机横侧向控制[J]. 西北工业大学学报
Xue Jing, Yang Yajie, Liu Yu, Li Liutao. Lateral Roll Angle Control of UAV Based on L1 Adaptive Control Method[J]. Northwestern polytechnical university

基于L1自适应控制的无人机横侧向控制
薛静, 杨亚洁, 刘宇, 李刘涛
西北工业大学自动化学院, 陕西西安 710072
摘要:
在设计无人机飞控系统时,以往采用PID增益调参,由于每架飞机参数的不确定,传统方法费时费力。为了克服传统方法对系统参数和模型结构的依赖,提出了一种对小型无人机进行横侧向滚转角控制设计的新的L1自适应控制方法。该方法将飞机在包线内的参数变化和耦合视为模型的时变参数和干扰;构建的L1横侧向控制律能够对控制信号中的高频振荡进行有效抑制。仿真验证的结果表明,所设计的控制器能够控制跟踪误差渐进收敛且跟踪效果良好。
关键词:    无人机    L1自适应控制    横侧向滚转角控制    跟踪误差   
Lateral Roll Angle Control of UAV Based on L1 Adaptive Control Method
Xue Jing, Yang Yajie, Liu Yu, Li Liutao
Department of Automatic Control, Northwestern Polytechnical University, Xi'an 710072, China
Abstract:
In the design of traditional UAV flight control system,it usually used the PID gain adjustment method. But due to uncertain parameters of each aircraft,the traditional method is time consuming. In this paper,in order to overcome the disadvantage of traditional reliance on system parameters and precise model structure,we use a new L1 adaptive control method for small UAV lateral roll angle control design. This method considers the parameter variations and coupling of aircraft in envelope as time-varying parameters and interference. The designed L1 lateral control effectively suppresses high-frequency oscillation of control signal. Finally,the simulation results and their analysis show preliminarily that the designed controller can control the tracking error achieve and can asymptotical convergence and good tracking and that it also verifies robustness to bounded uncertainty and disturbance.
Key words:    adaptive control systems    aircraft    angular velocity    computer simulation    controllers    design    feedback    flight control systems    flight envelopes    Laplace transforms    transfer functions    unmanned aerial vehicles(UAV)    L1 adaptive control    lateral roll angle control    tracking error   
收稿日期: 2014-09-18     修回日期:
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作者简介: 薛静(1973-),西北工业大学副教授,主要从事系统工程研究。
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