無人直升機自抗擾自適應軌跡跟蹤混合控制

姜辰; 王浩文; 李健珂; 李亮君

doi:10.13374/j.issn2095-9389.2017.11.018

無人直升機自抗擾自適應軌跡跟蹤混合控制

doi: 10.13374/j.issn2095-9389.2017.11.018

清華大學航天航空學院, 北京 100084

詳細信息

中圖分類號: V249.1
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出版歷程
- 收稿日期: 2017-01-18

Trajectory-tracking hybrid controller based on ADRC and adaptive control for unmanned helicopters

School of Aerospace Engineering, Tsinghua University, Beijing 100084, China

摘要

摘要: 為滿足無人直升機高精度軌跡跟蹤的控制需求,并降低直升機動力學模型誤差對飛行控制器飛行控制效果產生的影響,提出自抗擾自適應直升機混合控制.該控制器的內環控制采用模型跟隨自適應控制,通過使用動量反向傳播算法(MOBP)對該內環控制參數進行實時優化.通過使用自抗擾控制(ADRC)對直升機的水平速度進行控制.仿真結果表明,該混合控制器能夠實現直升機對預定軌跡的跟蹤.相對PID和級聯ADRC控制,該控制器具有更好的抗擾性和魯棒性.通過在200 kg級的專業植保無人直升機XV-2上搭載所提出的控制器,使其自主飛行軌跡跟蹤控制的均方根誤差在0.6 m以內.
- 無人直升機 /
- 自適應控制 /
- 自抗擾控制 /
- 飛行控制 /
- 神經網絡
Abstract: To enable unmanned helicopters to fly autonomously in precise paths and to reduce the influence of helicopter dynamic model error, this paper proposes a hybrid controller with active disturbance rejection control (ADRC) and adaptive control for trajectory tracking. This paper proposes the model reference adaptive control strategy for the inner-loop controller. This paper uses the momentum back-propagation (MOBP) neural network algorithm to tune the parameters of the proposed inner-loop controller. This paper uses ADRC in the proposed controller for velocity control. The simulation results indicate that the proposed controller can achieve good trajectory tracking. Compared with the PID controller and cascade ADRC, the proposed hybrid controller is more robust and has better anti-disturbance capability. This paper uses the proposed hybrid controller for trajectory-tracking control of the XV-2, which is an unmanned helicopter with a gross take-off weight level of 200 kg. With the help of the hybrid controller in our flight test, the root mean square error of the XV-2 trajectory-tracking control is within 0.6 m.
- unmanned helicopter /
- adaptive control /
- active disturbance rejection control /
- flight control /
- neural network

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