Self-adaption low-order controller for unmanned helicopter

Abstract

The invention relates to a self-adaption low-order controller for an unmanned helicopter. The self-adaption low-order controller for the unmanned helicopter comprises a planner, an identifier, a structural filter, an inner mold controller, a dual-ring slip form controller and a control component comprehensive module, wherein the planner is used for monitoring control input and control output of a controlled system, and the identifier is utilized for performing online identification and start the structural filter, the inner mold controller and the dual-ring slip form controller to perform controller parameter correction when homeostatic control output of the controlled system cannot meet a preset requirement; the structural filter is used for performing correction control on a filtering link of the inner mold controller; the inner mold controller is used for performing prediction control on an inner model and feedback correction of the controlled system; the dual-ring slip form controller is used for performing track control on posture angles and posture angular speed; the control component comprehensive module is used for summarizing control components to obtain a control component of the controlled system. The self-adaption low-order controller disclosed by the invention solves the problem of complex high-order dynamic robust control of a space junk capture system in the situations of unknown bounded interference, thrust error and location error and also brings convenience to processing control constraint and state constraint.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, in particular to an adaptive low-level controller for unmanned helicopters. Background technique [0002] The unmanned helicopter system model is a high-order dynamic system. The design of a high-order controller generally has an order comparable to that of the controlled object model. advanced defects. Therefore, in the design of the control system, it is usually preferred to choose a simple linear controller rather than a complex controller. As long as the final performance error remains within the allowable range, low-order controllers should be looked for. The low-order controller has good engineering realizability and its wide application in industrial control, which can be used as a best combination of theory and practice. In the past ten years, low-level controller design theory and methods have become one of the research hotspots in the domestic and foreign control circle...

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Problems solved by technology

Similarly, the least squares method for robust identification also has

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