Fixed-wing unmanned aerial vehicle obstacle avoidance robust anti-interference flight control method based on preset performance

Abstract

The invention discloses a fixed-wing unmanned aerial vehicle obstacle avoidance anti-interference flight control method based on preset performance, and the method comprises the following steps: generating an initial route, adjusting the parameters of the initial route, and generating a continuous safe flight route of an unmanned aerial vehicle; neglecting the mutual influence of transverse and lateral movement and longitudinal movement, establishing an unmanned aerial vehicle longitudinal model with external interference, and defining a performance function; based on the longitudinal model of the unmanned aerial vehicle, designing a height controller and a speed and track inclination angle controller based on a preset performance function; designing a disturbance observer, and designing an attitude angle controller and an attitude angle rate controller based on the disturbance observer; selecting a Lyapunov function of a control system, selecting control parameters according to the Lyapunov stability theory, and ensuring that system signals are bounded. According to the method, safe flight of the fixed-wing unmanned aerial vehicle can be ensured, the height tracking error can meet the given performance, and robust anti-interference tracking flight control of the fixed-wing unmanned aerial vehicle under external interference is realized.

Description

technical field [0001] The invention relates to aircraft control technology, in particular to an obstacle avoidance and anti-disturbance flight control method for a fixed-wing unmanned aerial vehicle based on preset performance. Background technique [0002] During the First World War, the United States introduced military drones, which promoted the application of drones in the military field. So far, it has developed the Global Hawk, Pterosaur, Predator, Sword, X47-B And a variety of advanced military drones such as fire scouts. At the same time, drones are also widely used in civilian fields such as aerial photography and agriculture. The flight control system is the main component of the UAV system, and it is the basis for performing various flight tasks and flying safely. An important research direction of technology. [0003] In the existing tracking control methods of fixed-wing UAV systems, they usually focus on how to ensure that the tracking error converges to a b...

AI Technical Summary

Problems solved by technology

However, studying the transient performance plays an important role in improving the performance of the UAV flight control system; for example, excessive overshoot may cause the UAV actuator to exceed the physical limit, resulting in the instability of the closed-loop UAV sy

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