工程科学学报2017，Vol.39Issue(11)：1743-1752,10.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
Trajectory-tracking hybrid controller based on ADRC and adaptive control forunmanned helicopters
摘要
Abstract
To enable unmanned helicopters to fly autonomously in precise paths and to reduce the influence of helicopter dynamic model error,this paper proposes a hybrid controller with active disturbance rejection control(ADRC) and adaptive control for trajecto-ry tracking. This paper proposes the model reference adaptive control strategy for the inner-loop controller. This paper uses the momentum back-propagation (MOBP) neural network algorithm to tune the parameters of the proposed inner-loop controller. This paper uses ADRC in the proposed controller for velocity control. The simulation results indicate that the proposed controller can achieve good trajectory tracking. Compared with the PID controller and cascade ADRC,the proposed hybrid controller is more robust and has better anti-disturbance capability. This paper uses the proposed hybrid controller for trajectory-tracking control of the XV-2, which is an unmanned helicopter with a gross take-off weight level of 200 kg. With the help of the hybrid controller in our flight test, the root mean square error of the XV-2 trajectory-tracking control is within 0.6 m.关键词
无人直升机/自适应控制/自抗扰控制/飞行控制/神经网络Key words
unmanned helicopter/adaptive control/active disturbance rejection control/flight control/neural network分类
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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):1743-1752,10.
