Robust constraint flight control method of UAV (Unmanned Aerial Vehicle)

Abstract

The invention relates to a robust constraint flight control method of an UAV (Unmanned Aerial Vehicle), comprising the following steps of: firstly establishing a fast-slow loop subsystem mathematical model of the UAV; establishing an indetermined nonlinear multiple input multiple output nonlinear flight system mathematical model with asymmetric input constraint of the UAV, wherein the indetermined nonlinear multiple input multiple output nonlinear flight system mathematical model with asymmetric input constraint is obtained by the following steps of establishing an asymmetric input constraintmodel according to the practical situation of an actuator of the UAV, and substituting the asymmetric input constraint model into the fast-slow loop subsystem mathematical model obtained in the firststep so as to obtain the indetermined nonlinear multiple input multiple output nonlinear flight system mathematical model with asymmetric input constraint; and designing an auxiliary analysis system to analyze influence caused by the asymmetric input constraint, evaluating the influence caused by the asymmetric input constraint by utilizing the auxiliary analysis system, and processing the indeterminancy of the nonlinear flight system by utilizing a parameter adaptive method to obtain a stable closed-loop system. Through the robust constraint flight control method of the UAV, disclosed by theinvention, the failure of the UAV actuator can be effectively avoided, and the survivability of the UAV is favorably improved.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, in particular to a robust limited flight control method for unmanned aerial vehicles. Background technique [0002] UAV has the characteristics of low cost, good cost-effectiveness, strong survivability and no casualties, so it has been widely used and studied in military and civilian fields. Since its inception, drones have played an important role in emergency rescue, disaster relief, public security patrols and modern warfare. In particular, unmanned combat aircraft has always been one of the important weapons and equipment for the warring parties to compete for air supremacy and combat initiative. In particular, the two Gulf Wars, the Yugoslav War, the Kosovo crisis, the Afghan War, and the recent Israeli-Palestinian conflict all clearly show that air power will play an increasingly important role in the course and outcome of wars in future wars. Among them, in the firs...

AI Technical Summary

Problems solved by technology

Although there have been many research results on the control technology with saturated input, the robust control technology for uncertain multiple-input multiple-output nonlinear systems with asymmetric input constraints and its application in flight systems still need to be solved. further research

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