火力与指挥控制2017，Vol.42Issue(10)：5-9,5.DOI:10.3969/j.issn.1002-0640.2017.10.002
基于干扰观测器的无人翼伞反步控制方法
Backstepping Control Method Based on Disturbance Observer for Unmanned Parafoil Vehicle
摘要
Abstract
A variable-gain backstepping tracking control method based on nonlinear disturbance observer is proposed in order to implement the path tracking for Unmanned Parafoil Vehicle(UPV)in the presence of compound disturbance. A variable-gain backstepping tracking control law is designed against the path tracking error model based on simulation object,and a nonlinear disturbance observer (NDOB)based on second order tracking -differentiator is employed to estimate the compound disturbance and make compensation to the control input,which improved system robustness while ensuring stability. In addition,the controller is applied to UPV planar curve path tracking control. The simulation results illustrate the good robustness of the proposed controller,and accurate tracking ability in desired path in the case of compound disturbance.关键词
无人翼伞飞行器/路径跟踪/非线性干扰观测器/模拟对象/可变增益Key words
unmanned parafoil vehicle/path tracking/nonlinear disturbance observer/simulation object/variable-gain分类
信息技术与安全科学引用本文复制引用
张昊,陈自力,蔚建斌,程欣..基于干扰观测器的无人翼伞反步控制方法[J].火力与指挥控制,2017,42(10):5-9,5.基金项目
国家自然科学基金(51175508) （51175508）
军队院校创新工程基金资助项目(ZYX12080007) （ZYX12080007）
