机械与电子2025，Vol.43Issue(10)：64-70,7.
基于ESO-MPC的水上无人机自主滑行起飞控制研究
Autonomous Taxiing Take Off Control for Unmanned Seaplanes Based on ESO-MPC
秦宇洋 1曹东 1沙俊江1
作者信息
- 1. 南京航空航天大学自动化学院,江苏南京 211106
- 折叠
摘要
Abstract
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.关键词
水上无人机/滑行起飞/模型预测控制/扩展状态观测器Key words
unmanned seaplanes/taxiing takeoff/MPC/ESO分类
航空航天引用本文复制引用
秦宇洋,曹东,沙俊江..基于ESO-MPC的水上无人机自主滑行起飞控制研究[J].机械与电子,2025,43(10):64-70,7.
