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本文将多无人直升机编队控制分解为若干对具有主从结构的无人直升机相对状态控制问题,并提出利用相对动力学建模方法设计编队控制器.无人直升机相对动力学由6自由度空间刚体相对动力学和单体直升机飞行动力学两部分组成.基于这种相对动力学模型利用反馈线性化和扩展高增益观测方法设计具有内外环阶梯结构的控制器.最后,通过仿真验证了这种方法能够跟踪给定期望值并具有一定扰动抑制能力.
In this paper, the formation control of multiple unmanned helicopters is decomposed into several problems of the relative state control of unmanned helicopters with the master-follower structure, and the relative dynamics modeling method is used to design the formation controller. The relative dynamics of unmanned helicopters is composed of six degrees of freedom space Rigid body relative dynamics and monostatic helicopter flight dynamics, and based on this relative dynamic model, the controller with inner and outer ring stepped structure is designed by feedback linearization and extended high-gain observation method.Finally, The method can track a given expected value and has some disturbance rejection ability.