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| Time-delay uncertain robust optimal control on unmanned helicopter based on dynamic inversion |
| SUN Wen-da1, LI Ping1,2, FANG Zhou2 |
| 1. Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China; 2. School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China |
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Abstract A dynamic inversion control technology was proposed to achieve autonomous cruise of unmanned helicopter at a speed of large range. The fast dynamics flapping motion was aproximated to be quasi static in order to solve the problem that the plant model was non-affine and the flapping states were not measurable, which led to the application difficulty of exact feedback linearization method conventionally used. The rotational dynamics of unmanned helicopter was feedback linearized by incremental nonlinear dynamic inversion technology. The equivalent time constant of main rotor and stabilizer bar was treated as the lag time of the inner loop generalized linear object in order to compensate the model distortion due to the quasi static assumption of rotor flapping. The uncertain delay dependent H-infinity optimal control method was applied to design inner controller considering the model errors and systematic disturbances. The simulation and flight experiments demonstrate that this control method can effectively implement nonlinear control to the cruising unmanned helicopter with model uncertainty, and results in a noticeable attitude track performance.
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Published: 10 September 2015
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无人直升机动态逆时滞不确定鲁棒最优控制
采用动态逆控制技术来实现无人直升机的大速度范围自主巡航.为了解决对象模型非仿射结构且挥舞状态不可测导致常规精确反馈线性化难以实现的问题,将快动态的挥舞运动近似为拟静态,利用增量式非线性动态逆技术实现无人直升机转动动态的反馈线性化.为了补偿旋翼挥舞拟静态近似带来的模型失真,将主旋翼和稳定杆的等效时间处理为内环广义线性对象的滞后时间.考虑到模型误差和系统干扰,应用不确定时滞依赖H无穷最优控制方法设计内环控制器.仿真和飞行实验表明,采用该控制方法可以有效地实现存在模型不确定性的无人直升机在平飞巡航中的非线性控制,具有很好的姿态跟踪效果．
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