基于ESO-MPC的水上无人机自主滑行起飞控制研究OA

This paper investigates the distinct characteristics and takeoff dynamics of unmanned sea-planes compared to land-based UAV,and proposes an autonomous takeoff control method to address the challenges posed by water-related factors affecting UAV takeoff from water surfaces.Firstly,a nonlinear mathematical model of UAV taxi-off including hydrodynamic effect is established.The longitudinal chan-nel is decoupled and extracted from the elevator channel,and the regular wave is introduced to simulate the water wave motion.Then,a model predictive control method based on extended state observer(ESO-MPC)is designed,and the MPC controller is designed to control the pitch angle,so that the UAV could track the wave surface in real time and take off at the wave peak.At the same time,the feedforward com-pensation based on ESO observer is introduced to estimate and compensate the inaccurate part of modeling and external disturbance,and further improve the robustness of the system.Finally,the simulation results show that the system can accurately track the wave surface and achieve smooth takeoff.