Robust and anti-disturbance flight control method for fixed-wing unmanned aerial vehicles based on preset performance

Abstract

The invention discloses an obstacle-avoiding and anti-disturbance flight control method for a fixed-wing unmanned aerial vehicle based on preset performance. Interaction between lateral motion and longitudinal motion, establish a UAV longitudinal model with external interference and define performance functions; based on UAV longitudinal model, design altitude controller, speed and track inclination angle based on preset performance functions Controller; design a disturbance observer, design an attitude angle controller and an attitude angle rate controller based on the disturbance observer; select the Lyapunov function of the control system, select the control parameters according to the Lyapunov stability theory, and ensure the boundedness of the system signal . The invention can ensure the safe flight of the fixed-wing unmanned aerial vehicle, and can also make the height tracking error meet the given performance, and realize the robust anti-disturbance tracking flight control of the fixed-wing unmanned aerial vehicle under external interference.

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 system

Therefore, when designing a robust and anti-disturbance flight controller for safe obstacle avoidance, only considering the steady-state performance without considering the transient performance will make it difficult for the UAV to achieve the desired flight performance

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