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无人机的小扰动特性容易导致飞行失衡,对飞行失衡条件下稳定性和鲁棒性控制,提高无人机惯导的工作可靠性。传统的无人机飞行失衡校正和鲁棒性控制采用PID控制方法,无法使被控对象得到有效的干扰抑制和颤抖补偿。提出一种基于Lyapunov稳定性渐进补偿的飞行失衡条件下的无人机惯导鲁棒性控制算法。构建了飞行失衡条件下的无人机惯导控制模型,进行控制约束参量分析。考虑无人机惯导系统存在的不确定时延、未知扰动误差、横舵纵倾振荡等干扰问题,选取Lyapunov函数作为飞行控制的稳定性判决,进行Lyapunov稳定性渐进补偿,提高飞行控制的鲁棒性。仿真结果表明,该控制算法进行飞行惯导控制,能使航向姿态角收敛到误差最小的范围,控制输出的稳定性和鲁棒性较高。
UAV small disturbance characteristics easily lead to flight imbalance, flight stability under the conditions of imbalance and robust control to improve the operational reliability of UAV inertial navigation. Traditional UAV flight imbalance correction and robust control using PID control method, the controlled object can not be effective interference suppression and tremor compensation. A robust control algorithm for UAV inertial navigation under flight imbalance based on Lyapunov stability compensation is proposed. The UAV inertial guidance control model under the condition of flight unbalance is constructed, and the control constraint parameters are analyzed. Considering the UAV inertial navigation system existence of the uncertain time delay, the unknown disturbance error, the rudder pitch oscillation and so on interference question, chooses Lyapunov function as the flight control stability decision, carries on the Lyapunov stability gradual compensation, enhances the flight control Lu Great. The simulation results show that the control algorithm performs flight inertial navigation control, which can make the heading attitude angle converge to the minimum error range, and the control output has high stability and robustness.