Telescopic sleeve arm type unmanned aerial vehicle air-based recovery docking control method based on LADRC

Abstract

The invention discloses a telescopic sleeve arm type unmanned aerial vehicle air-based recovery docking control method based on LADRC, and the method specifically comprises the steps: firstly, establishing a telescopic sleeve arm nonlinear model, and carrying out the affine nonlinear processing of the telescopic sleeve arm nonlinear model; further, comprehensively considering the influence of environmental turbulence and unmeasurable transient disturbance in the model on the telescopic sleeve arm, and designing an extended state observer to accurately reconstruct the unmeasurable lumped disturbance in the system; then, estimating disturbance based on an expansion state observer, and designing a space-based recovery telescopic sleeve arm high-disturbance-rejection butt joint control method based on the linear active disturbance rejection technology, so that precise butt joint control over the telescopic sleeve arm under environmental disturbance is achieved. According to the method, the three-channel affine nonlinear model of the telescopic sleeve arm is constructed, the docking controller based on the linear active disturbance rejection technology is designed based on the model, accurate motion control of the telescopic sleeve arm under the turbulent flow effect is achieved, and the air-based recovery efficiency of the unmanned aerial vehicle is improved. Meanwhile, technical support is provided for remote combat, maneuvering defense penetration, rapid deployment and the like of the low-cost unmanned aerial vehicle.

Description

technical field [0001] The invention relates to a LADRC-based control method for space-based recovery and docking of telescopic sleeve-arm unmanned aerial vehicles, belonging to the technical field of unmanned aerial vehicle recovery. Background technique [0002] In recent years, small fixed-wing unmanned aerial vehicles (UAVs) have attracted widespread attention from the military circles of various countries due to their small size and fast speed, and have been used in military fields such as reconnaissance, monitoring, defense penetration, strikes, and cluster coordinated fire strikes by developed aviation countries. However, due to their own design and combat mission limitations, most small fixed-wing UAVs do not have long-range combat capabilities, and cannot perform tasks such as long-range reconnaissance, mobile penetration, and enemy rear attacks. Even if a large transport aircraft is used for long-range air-based deployment, since there is no reliable land-based / shi...

AI Technical Summary

Problems solved by technology

Although this recovery method avoids the problem of poor stability in the air of the flexible and easily disturbed cable buoy system, and further improves the efficiency of space-based recovery, but due to the structure and size limitations of the robotic arm, the docking point is closer to the recovery platform, and the risk of docking is slightly higher.

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