小型无人直升机浸入–不变集自适应控制
Immersion and invariance adaptive control for a miniature unmanned helicopter

本文基于浸入–不变集理论, 针对小型无人直升机存在的参数不确定性问题, 设计一种新型的自适应控制 器. 利用基于Lyapunov的分析方法和LaSalle不变性原理, 进行闭环系统的稳定性分析, 确保无人直升机姿态角的跟 踪误差全局渐进收敛, 以及闭环系统的稳定性. 在无人直升机姿态飞行控制实验平台上, 进行了无人机姿态跟踪控 制实验. 实验结果表明, 本文所提出的控制方法具有良好的跟踪控制效果.
Considering the parametric uncertainties of a small-scaled unmanned helicopter, we develop a new adaptive controller by the immersion and invariance (I&I) approach. The stability of the closed-loop system is proved by using the Lyapunov based analysis and the LaSalle’s invariance theorem. The asymptotic convergence of the attitude tracking error is also proved. Real-time experiments are performed on a helicopter attitude control testbed; and the results validate the good performance of the proposed control scheme.