舰载无人机着舰轨迹跟踪鲁棒控制器设计
Design of landing trajectory tracking robust controller for carrier-based unmanned aerial vehicle

为确保舰载无人机着舰阶段精确地跟踪下滑轨迹, 并且在稳态性能基础上具有更好的瞬态性能, 本文在新 的等效误差模型的基础上提出了受限指令预设性能控制律设计方法. 首先考虑了舵面受限和角速率受限等实际工 程问题, 引入受限指令滤波方法, 然后综合考虑建模误差和外界扰动, 引入了连续的双曲正切函数对饱和函数进行 近似, 并设计了自适应律对模型未知参数进行估计, 最后引入了预设性能方法对着舰的瞬态性能进行了重点分析. 通过理论推导和仿真验证, 证明了本文提出的方法在复杂着舰环境下有较好的瞬态性能和较好的鲁棒性.
The carrier-based unmanned aerial vehicle (UAV) should be required to track the trajectory accurately and ensured to have the transient performance during landing. And in this paper a constrained command prescribed control law based on a new equivalent error model is designed. Firstly, a constrained command filter method is introduced to consider the actual engineering problems such as rudder limited and angular rate limited. Secondly, the continuous hyperbolic tangent function is used to approximate the saturation function, and an adaptive law is used to estimate the unknown parameters with the modeling errors and a variety of environmental disturbance factors. Finally, the transient performance during landing is emphatically analyzed by introducing prescribed performance method. The strong robustness and better transient performance in complex environment is demonstrated by theoretical analysis and simulation.