南京航空航天大学学报2023，Vol.55Issue(6)：977-987,11.DOI:10.16356/j.1005-2615.2023.06.004
基于自适应干扰观测器的无人直升机模型参考跟踪控制
Reference Model Tracking Control for Unmanned Aerial Helicopters Based on Adaptive Disturbance Observer
摘要
Abstract
The reference model tracking control of an unmanned aerial helicopter(UAH)under outside disturbance is studied,and a tracking control scheme based on the adaptive disturbance observer is proposed.Firstly,the disturbance is modelled as a nonlinear exogenous system with uncertain parameter error based on the available information.Secondly,a state observer and an adaptive disturbance observer(DO)are proposed to estimate the unmeasurable state and disturbance of the UAH system.Thirdly,by combining the reference model control and DO-based control,a composite anti-disturbance control scheme is presented to derive an overall closed-loop system consisting of tracking error and observer error.Fourthly,based on the Lyapunov stability theory,a sufficient condition on H∞ performance index and asymptotic stability is obtained,and a co-design method of the observers,controller,and adaptive law is proposed by resorting to matrix transformation.Finally,numerical simulations demonstrate the effectiveness and superiority of the proposed tracking control algorithm.关键词
无人直升机/模型参考跟踪控制/自适应干扰观测器/抗干扰复合控制器/H∞控制Key words
unmanned autonomous helicopter/model reference tracking control/adaptive disturbance observer/composite anti-disturbance controller/H∞ control分类
信息技术与安全科学引用本文复制引用
潘世豪,王婷,张浩然,李涛..基于自适应干扰观测器的无人直升机模型参考跟踪控制[J].南京航空航天大学学报,2023,55(6):977-987,11.基金项目
国家自然科学基金(62073164,61922042). （62073164,61922042）
