Unmanned helicopter tracking control method considering input saturation

Abstract

The invention discloses an unmanned helicopter tracking control method considering input saturation, and the method comprises the following steps: 1, building an unmanned helicopter control system mathematical model according to a Newton-Euler equation, and taking the modeling uncertainty and external interference as total disturbance; 2, determining an expected track and defining an error variable according to an actual demand, and introducing a controller saturation function; 3, designing an anti-saturation auxiliary system to compensate the input saturation of an actuator; 4, modeling uncertainty and external interference are approximated by adopting a radial basis function (RBF) neural network; and 5, designing an anti-saturation controller in combination with sliding mode control, and adopting a double-closed-loop control strategy to enable a trajectory tracking error signal to be finally converged to an original point progressively when the unmanned helicopter system is in an input saturation condition. According to the method, the problem of actuator input saturation can be solved while the modeling uncertainty is overcome, the anti-interference capability and robustness of the control system are enhanced, and the stability and dynamic quality of the unmanned helicopter control system are improved.

Description

technical field [0001] The invention relates to the technical field of flight control, in particular to an unmanned helicopter tracking control method considering input saturation. Background technique [0002] UAV is the abbreviation of Unmanned Aerial Vehicle (Unmanned Aerial Vehicle). It can be remotely controlled on the ground or fly autonomously. Compared with manned aircraft, it has the advantages of small size, low cost, convenient use, low requirements on the combat environment, and strong battlefield survivability. It meets the requirements of modern warfare to reduce or even avoid casualties. Therefore, countries have invested a lot of manpower and material resources in the research of various fields of drones. [0003] Unmanned helicopters have the advantages of vertical take-off and landing, hovering in the air, and flexible maneuvering. Currently, they are mainly used to perform various complex tasks such as high-risk, complex mission environments, and fixed-po...

AI Technical Summary

Problems solved by technology

First of all, the unmanned helicopter needs to overcome the influence of factors such as the uncertainty of its own modeling and the disturbance caused by the air during the control process; at the same time, the input saturation problem will also be caused by the execution of high maneuvering tasks in the actual control process. , the above problems affect the control accuracy and response speed of the unmanned helicopter

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