机械科学与技术2018，Vol.37Issue(7)：1143-1148,6.DOI:10.13433/j.cnki.1003-8728.2018.0719
鲁棒H∞/S面模型下的无人机高度控制方法
Method of UAV Height Control based on H∞ / S-plane Model
摘要
Abstract
In order to resolve the external disturbances and model parameter uncertainty during the unmanned aerial vehicle (UAV) flight process,a robust H∞/S-plane model control algorithm was designed,in which the outer ring adopts the S-plane control algorithm with strong nonlinear,and the inner ring adopts robust H∞ control with strong robustness.The nominal model of a certain UAV was simulated to verify respectively the effect of H∞/S model control algorithm to the height of UAV in the conditions of external intederence,parameter perturbation and without external interference.The results show that the H∞/S-plane model control algorithm is concise with good convergence,accuracy,robustness and dynamic performance compared with the H∞/PD model control algorithm,which make it more suitable for UAV height control.关键词
无人机/高度控制/S面控制/鲁棒H∞控制/稳定性Key words
UAV/height control/S-plane control/robust control/stability分类
信息技术与安全科学引用本文复制引用
赵兴成,陈鹏云,原梅妮,李盼,李瑶,李立州..鲁棒H∞/S面模型下的无人机高度控制方法[J].机械科学与技术,2018,37(7):1143-1148,6.基金项目
国家自然科学基金项目(51201155)资助 （51201155）
