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无人机在进场着陆过程中模型参数发生摄动,存在低空大气扰动和外界不确定性干扰等因素。基于无人机自动着陆性能要求,内环利用线性矩阵不等式凸优化方法,将鲁棒H_∞控制转化为标准H_∞控制处理,外环采用PID控制航迹,实现系统着陆轨迹的精确控制,有效抑制风干扰及外界不确定性干扰。所设计的控制律在顺风着陆和逆风着陆下分别进行仿真验证,仿真结果表明,无人机自动着陆轨迹响应具有良好的动态性能和鲁棒性,验证了该设计方法的正确性和有效性。
The UAV perturbed the model parameters during landings, with the disturbance of low-altitude atmosphere and the disturbance of the outside world. Based on UAV automatic landing performance requirements, the inner loop uses the linear matrix inequality convex optimization method to convert the robust H_∞control to the standard H_∞control, and the outer loop uses the PIDcontrol trajectory to achieve the precise control of the system landing trajectory. Suppression of wind disturbance and external uncertainty interference. The designed control law is validated under the landing of the wind and the landing of the windward respectively. The simulation results show that the UAV automatic landing trajectory response has good dynamic performance and robustness, which verifies the correctness and effectiveness of the design method.