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无人直升机自抗扰自适应轨迹跟踪混合控制

姜辰 王浩文 李健珂 李亮君

姜辰, 王浩文, 李健珂, 李亮君. 无人直升机自抗扰自适应轨迹跟踪混合控制[J]. 工程科学学报, 2017, 39(11): 1743-1752. doi: 10.13374/j.issn2095-9389.2017.11.018
引用本文: 姜辰, 王浩文, 李健珂, 李亮君. 无人直升机自抗扰自适应轨迹跟踪混合控制[J]. 工程科学学报, 2017, 39(11): 1743-1752. doi: 10.13374/j.issn2095-9389.2017.11.018
JIANG Chen, WANG Hao-wen, LI Jian-ke, LI Liang-jun. Trajectory-tracking hybrid controller based on ADRC and adaptive control for unmanned helicopters[J]. Chinese Journal of Engineering, 2017, 39(11): 1743-1752. doi: 10.13374/j.issn2095-9389.2017.11.018
Citation: JIANG Chen, WANG Hao-wen, LI Jian-ke, LI Liang-jun. Trajectory-tracking hybrid controller based on ADRC and adaptive control for unmanned helicopters[J]. Chinese Journal of Engineering, 2017, 39(11): 1743-1752. doi: 10.13374/j.issn2095-9389.2017.11.018

无人直升机自抗扰自适应轨迹跟踪混合控制

doi: 10.13374/j.issn2095-9389.2017.11.018
详细信息
  • 中图分类号: V249.1

Trajectory-tracking hybrid controller based on ADRC and adaptive control for unmanned helicopters

  • 摘要: 为满足无人直升机高精度轨迹跟踪的控制需求,并降低直升机动力学模型误差对飞行控制器飞行控制效果产生的影响,提出自抗扰自适应直升机混合控制.该控制器的内环控制采用模型跟随自适应控制,通过使用动量反向传播算法(MOBP)对该内环控制参数进行实时优化.通过使用自抗扰控制(ADRC)对直升机的水平速度进行控制.仿真结果表明,该混合控制器能够实现直升机对预定轨迹的跟踪.相对PID和级联ADRC控制,该控制器具有更好的抗扰性和鲁棒性.通过在200 kg级的专业植保无人直升机XV-2上搭载所提出的控制器,使其自主飞行轨迹跟踪控制的均方根误差在0.6 m以内.
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出版历程
  • 收稿日期:  2017-01-18

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