| 摘要: |
| 高速无人机是典型的复杂非线性、参数不确定性系统，且各控制通道之间存在强耦合作用，这对飞行控制系统设计提出了严峻挑战。针对其非线性特性和耦合特性，采用精确反馈线性化理论将无人机动力学模型解耦为3个独立的子系统，即滚转、俯仰和偏航通道；应用模型参考自适应控制方法分别设计每个通道的姿态控制器。研究表明，上述线性化方法能够实现三通道解耦，所设计控制系统满足飞行控制性能要求，且对气动参数摄动和外部干扰具有较强的鲁棒性。 |
| 关键词: 高速无人机 反馈线性化 自适应控制 鲁棒性 |
| DOI： |
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| 基金项目:航天一院高校联合创新基金项目（CALT201601） |
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| Design of Adaptive Control System for High Speed UAV Based on Feedback Linearization |
| RUAN Zhengwei,YANG Qinmin,ZHOU Wenya |
| (College of Control Science and Engineering, Zhejiang University;School of Aeronautics and Astronautics, Dalian University of Technology) |
| Abstract: |
| The high speed unmanned aerial vehicles are typical and complex nonlinear systems with uncertainties. Moreover, there are strong couplings among the control channels which make it more difficult to design the control system for UAVs. In this paper, the nonlinear and coupling dynamic model of UAVs is decoupled into three independent subsystems including roll, pitch and yaw channel with the exact feedback linearization method (FLM). The model reference adaptive control (MRAC) method is adopted to design the attitude controllers for each channel respectively. The study shows that the linear and decoupling dynamic model can be achieved by FLM and the designed MRAC system can meet the requirements of control performance and can improve the robustness against aerodynamic parameter uncertainties and external disturbance. |
| Key words: High speed unmanned aerial vehicles Feedback linearization Adaptive control Robustness |