CN111399527A - Unmanned helicopter attitude robust control method based on extended observer - Google Patents

Unmanned helicopter attitude robust control method based on extended observer Download PDF

Info

Publication number
CN111399527A
CN111399527A CN202010228572.0A CN202010228572A CN111399527A CN 111399527 A CN111399527 A CN 111399527A CN 202010228572 A CN202010228572 A CN 202010228572A CN 111399527 A CN111399527 A CN 111399527A
Authority
CN
China
Prior art keywords
model
control
robust
derivative
observer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202010228572.0A
Other languages
Chinese (zh)
Other versions
CN111399527B (en
Inventor
邵义
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Huayi Aviation Technology Co ltd
Original Assignee
Zhejiang Huayi Aviation Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang Huayi Aviation Technology Co ltd filed Critical Zhejiang Huayi Aviation Technology Co ltd
Priority to CN202010228572.0A priority Critical patent/CN111399527B/en
Publication of CN111399527A publication Critical patent/CN111399527A/en
Application granted granted Critical
Publication of CN111399527B publication Critical patent/CN111399527B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Abstract

The invention discloses an unmanned helicopter attitude robust control method based on an extended observer, and belongs to the technical field of automatic flight control of unmanned helicopters. The invention fully considers model uncertainty and disturbance and fully utilizes loop formingH ∞ The robust capability, the accurate control capability and the like of modern robust control, and the disturbance estimation capability of the extended observer. The invention solves the problem of loop formingH ∞ The robust control is difficult to handle the problem of large-range change of the model, so that the full-envelope flight attitude control of the unmanned helicopter is realized.

Description

Unmanned helicopter attitude robust control method based on extended observer
Technical Field
The invention belongs to the technical field of automatic flight control of unmanned helicopters, and particularly relates to an unmanned helicopter attitude robust control method based on an extended observer.
Background
Automatic flight control is always a key technology in the field of unmanned planes, particularly automatic flight control of unmanned helicopters, and more importantly, attitude control of unmanned helicopters. Due to the fact that a flight dynamics model of the unmanned helicopter is complex, on one hand, the accurate dynamics model is difficult to obtain through mechanism modeling and even wind tunnel tests, and on the other hand, automatic flight control is more difficult. In order to achieve a high quality of control, engineers are constantly exploring control techniques based on modern control theory to achieve high quality flight control of unmanned helicopters. However, modern control theory often requires that the controlled object have a relatively accurate model. At present, the common practice in the field of unmanned helicopter flight control is to perform modal excitation through remote control flight, and perform kinetic model parameter identification after acquiring flight data. The method has the problems that the model parameters in the full envelope range cannot be obtained, and the accuracy of the model parameters is limited due to the influence of factors such as a modal excitation method, data acquisition equipment, meteorological environment and the like.
Disclosure of Invention
Aiming at the problems in the background technology, the invention provides a method for combining an extended observer and robust control, and solves the problems of insufficient model precision and attitude control of full envelope flight.
Therefore, the invention adopts the following technical scheme: an unmanned helicopter attitude robust control method based on an extended observer is characterized by comprising the following steps:
in the first step, a linear model is established as follows:
Figure 139700DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 855983DEST_PATH_IMAGE003
、
Figure 457866DEST_PATH_IMAGE005
the front lateral speed of the machine body under the axis coordinate system,
Figure 776851DEST_PATH_IMAGE007
、
Figure 508309DEST_PATH_IMAGE009
the pitch angle and the roll angle are provided,
Figure 254548DEST_PATH_IMAGE011
、
Figure 78148DEST_PATH_IMAGE013
the roll angle rate and the pitch angle rate under the machine body axis coordinate system are shown as follows,
Figure 76191DEST_PATH_IMAGE015
、
Figure 301636DEST_PATH_IMAGE017
is the longitudinal side flapping angle of the rotor.
Figure 608989DEST_PATH_IMAGE019
、
Figure 919885DEST_PATH_IMAGE021
For the derivative of the aerodynamic force generated by the rotor,
Figure 846253DEST_PATH_IMAGE023
、
Figure 535991DEST_PATH_IMAGE025
、
Figure 889612DEST_PATH_IMAGE027
、
Figure 687804DEST_PATH_IMAGE029
for the derivative of the aerodynamic moment generated by the rotor,
Figure 775452DEST_PATH_IMAGE031
、
Figure 444331DEST_PATH_IMAGE033
、
Figure 234432DEST_PATH_IMAGE035
、
Figure 129707DEST_PATH_IMAGE037
、
Figure 132298DEST_PATH_IMAGE039
、
Figure 186842DEST_PATH_IMAGE041
in order to be the derivative of the aerodynamic velocity,
Figure 6899DEST_PATH_IMAGE043
is the acceleration of gravity.
Figure 248525DEST_PATH_IMAGE045
、
Figure 54807DEST_PATH_IMAGE047
Is a periodic variable pitch in the longitudinal and lateral directions,
Figure 963857DEST_PATH_IMAGE049
is the time constant of the rotor, and is,
Figure 439969DEST_PATH_IMAGE051
、
Figure 434470DEST_PATH_IMAGE053
、
Figure 778863DEST_PATH_IMAGE055
、
Figure 542420DEST_PATH_IMAGE057
in order to achieve the equivalent control effect,
Figure 940165DEST_PATH_IMAGE059
，
Figure 421962DEST_PATH_IMAGE061
is a pneumatic coupling derivative;
neglecting the influence of longitudinal and lateral coupling factors, the attitude model is simplified into two decoupled single-channel models as follows:
(1) pitch channel model:
Figure 570047DEST_PATH_IMAGE062
wherein
Figure 188110DEST_PATH_IMAGE064
Describing the difference between the derivative of the pitch angle and the pitch angle rate,
Figure 271604DEST_PATH_IMAGE066
、
Figure 240697DEST_PATH_IMAGE068
ignoring parts for a modeling process
Figure 926893DEST_PATH_IMAGE070
、
Figure 789676DEST_PATH_IMAGE072
Unmodeled parts and disturbances during flight; wherein the content of the first and second substances,
Figure 903125DEST_PATH_IMAGE074
，
Figure 93935DEST_PATH_IMAGE076
。
(2) rolling channel model:
Figure 583822DEST_PATH_IMAGE077
wherein
Figure 51844DEST_PATH_IMAGE079
Describing the differential in roll and the roll rate,
Figure 601774DEST_PATH_IMAGE081
、
Figure 279880DEST_PATH_IMAGE083
ignoring parts for a modeling process
Figure 307879DEST_PATH_IMAGE085
、
Figure 378210DEST_PATH_IMAGE087
Unmodeled parts and disturbances during flight; wherein the content of the first and second substances,
Figure 99041DEST_PATH_IMAGE089
，
Figure 264443DEST_PATH_IMAGE091
；
the two channel models are further transformed:
Figure 96133DEST_PATH_IMAGE092
formula (1)
Figure 273167DEST_PATH_IMAGE093
Formula (2)
Second step dilation observation (ESO) design:
according to the formula (1) and the formula (2), the
Figure 164900DEST_PATH_IMAGE095
、
Figure 817598DEST_PATH_IMAGE097
Etc. are extended to a fourth state variable in the model. And designing a linear observer according to the design method of the extended observer, wherein the observer is shaped as
Figure 187400DEST_PATH_IMAGE098
Wherein the content of the first and second substances,
Figure 733787DEST_PATH_IMAGE100
pitch angle or roll angle, respectively;
the third stepH ∞ Designing a robust controller:
robust control using loop shapingH ∞ The robust control structure is a robust control structure,
Figure 734105DEST_PATH_IMAGE102
、
Figure 608520DEST_PATH_IMAGE104
、
Figure 47591DEST_PATH_IMAGE106
respectively, a weighting function and a controller. The state quantity Z1 of the ESO output is fed back, and Z4 compensates the control quantity.
The invention can achieve the following beneficial effects: 1. the invention combines the extended observer and the loop formingH ∞ Robust control is realized, so that the attitude control of the unmanned helicopter can be realized. 2. The method simplifies the model by transforming the unmanned helicopter model, expands a modeling neglecting part, a modeling uncertain part (including a full-envelope flight time-varying part, a modeling error and the like) and an environmental interference part into a state quantity, and estimates by using an observer. 3. The invention utilizes loop formingH ∞ The robust control structure realizes the attitude control of the unmanned helicopter, and the disturbance estimator of the extended observer is used for forming a loopH ∞ And the robust control outputs the control quantity to carry out dynamic compensation. Therefore, the invention fully considers model uncertainty and disturbance, and fully utilizes loop formingH ∞ The robust capability, the accurate control capability and the like of modern robust control and the disturbance estimation capability of the extended observer solve the problem of loop formingH ∞ The robust control is difficult to handle the problem of large-range change of the model, so that the full-envelope flight attitude control of the unmanned helicopter is realized.
Drawings
FIG. 1 is a schematic diagram of the model design of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
As shown in fig. 1, the present invention comprises the steps of:
in the first step, a linear model is established as follows:
Figure 949950DEST_PATH_IMAGE107
wherein the content of the first and second substances,
Figure 183486DEST_PATH_IMAGE003
、
Figure 545197DEST_PATH_IMAGE005
the front lateral speed of the machine body under the axis coordinate system,
Figure 256801DEST_PATH_IMAGE007
、
Figure 528513DEST_PATH_IMAGE108
the pitch angle and the roll angle are provided,
Figure 932950DEST_PATH_IMAGE011
、
Figure 781957DEST_PATH_IMAGE013
the roll angle rate and the pitch angle rate under the machine body axis coordinate system are shown as follows,
Figure 297252DEST_PATH_IMAGE015
、
Figure 672739DEST_PATH_IMAGE017
is the longitudinal side flapping angle of the rotor.
Figure 248077DEST_PATH_IMAGE019
、
Figure 584380DEST_PATH_IMAGE021
For the derivative of the aerodynamic force generated by the rotor,
Figure 903366DEST_PATH_IMAGE023
、
Figure 884091DEST_PATH_IMAGE025
、
Figure 630330DEST_PATH_IMAGE027
、
Figure 188351DEST_PATH_IMAGE029
for the derivative of the aerodynamic moment generated by the rotor,
Figure 311028DEST_PATH_IMAGE031
、
Figure 894062DEST_PATH_IMAGE033
、
Figure 811203DEST_PATH_IMAGE035
、
Figure 122098DEST_PATH_IMAGE037
、
Figure 782887DEST_PATH_IMAGE039
、
Figure 472625DEST_PATH_IMAGE041
in order to be the derivative of the aerodynamic velocity,
Figure 826246DEST_PATH_IMAGE109
is the acceleration of gravity.
Figure 358859DEST_PATH_IMAGE045
、
Figure 557759DEST_PATH_IMAGE047
Is a periodic variable pitch in the longitudinal and lateral directions,
Figure 616851DEST_PATH_IMAGE049
is the time constant of the rotor, and is,
Figure 141373DEST_PATH_IMAGE051
、
Figure 895702DEST_PATH_IMAGE053
、
Figure 163872DEST_PATH_IMAGE055
、
Figure 828203DEST_PATH_IMAGE057
in order to achieve the equivalent control effect,
Figure 258047DEST_PATH_IMAGE059
，
Figure 765252DEST_PATH_IMAGE061
is a pneumatic coupling derivative;
neglecting the influence of longitudinal and lateral coupling factors, the attitude model is simplified into two decoupled single-channel models as follows:
(1) pitch channel model:
Figure 571534DEST_PATH_IMAGE110
wherein
Figure 106683DEST_PATH_IMAGE064
Describing the difference between the derivative of the pitch angle and the pitch angle rate,
Figure 910691DEST_PATH_IMAGE066
、
Figure 639612DEST_PATH_IMAGE068
ignoring parts for a modeling process
Figure 374219DEST_PATH_IMAGE070
、
Figure 137776DEST_PATH_IMAGE072
Unmodeled parts and disturbances during flight; wherein the content of the first and second substances,
Figure 909423DEST_PATH_IMAGE074
，
Figure 391220DEST_PATH_IMAGE076
。
(2) rolling channel model:
Figure 945829DEST_PATH_IMAGE111
wherein
Figure 452640DEST_PATH_IMAGE079
Describing the differential in roll and the roll rate,
Figure 395188DEST_PATH_IMAGE081
、
Figure 98702DEST_PATH_IMAGE083
ignoring parts for a modeling process
Figure 50478DEST_PATH_IMAGE085
、
Figure 398414DEST_PATH_IMAGE087
Unmodeled parts and disturbances during flight; wherein the content of the first and second substances,
Figure 777442DEST_PATH_IMAGE089
，
Figure 968252DEST_PATH_IMAGE091
；
the two channel models are further transformed:
Figure 458139DEST_PATH_IMAGE112
formula (1)
Figure DEST_PATH_IMAGE113
Formula (2)
Second step dilation observation (ESO) design:
according to the formula (1) and the formula (2), the
Figure 441008DEST_PATH_IMAGE095
、
Figure 990938DEST_PATH_IMAGE097
Etc. are extended to a fourth state variable in the model. And designing a linear observer according to the design method of the extended observer, wherein the observer is shaped as
Figure DEST_PATH_IMAGE114
Wherein the content of the first and second substances,
Figure 544410DEST_PATH_IMAGE100
pitch or roll angles, respectively；
The third stepH ∞ Designing a robust controller:
robust control using loop shapingH ∞ The robust control structure is a robust control structure,
Figure 837988DEST_PATH_IMAGE102
、
Figure 285150DEST_PATH_IMAGE104
、
Figure 5981DEST_PATH_IMAGE106
respectively, a weighting function and a controller. The state quantity Z1 of the ESO output is fed back, and Z4 compensates the control quantity.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (6)

1. An unmanned helicopter attitude robust control method based on an extended observer is characterized by comprising the following steps:
in the first step, a linear model is established as follows:
Figure 460583DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 112144DEST_PATH_IMAGE003
、
Figure 626302DEST_PATH_IMAGE005
is a body axis seatThe front lateral speed under the mark system,
Figure 614987DEST_PATH_IMAGE007
、
Figure 163780DEST_PATH_IMAGE009
the pitch angle and the roll angle are provided,
Figure 720663DEST_PATH_IMAGE011
、
Figure 846751DEST_PATH_IMAGE013
the roll angle rate and the pitch angle rate under the machine body axis coordinate system are shown as follows,
Figure 780072DEST_PATH_IMAGE015
、
Figure 183371DEST_PATH_IMAGE017
is the longitudinal side flapping angle of the rotor.
2.
Figure 911156DEST_PATH_IMAGE019
、
Figure 258961DEST_PATH_IMAGE021
For the derivative of the aerodynamic force generated by the rotor,
Figure 730393DEST_PATH_IMAGE023
、
Figure 988199DEST_PATH_IMAGE025
、
Figure 778563DEST_PATH_IMAGE027
、
Figure 754609DEST_PATH_IMAGE029
is a rotary wingThe derivative of the resulting aerodynamic moment is,
Figure 764153DEST_PATH_IMAGE031
、
Figure 142045DEST_PATH_IMAGE033
、
Figure 336266DEST_PATH_IMAGE035
、
Figure 799609DEST_PATH_IMAGE037
、
Figure 347265DEST_PATH_IMAGE039
、
Figure 704297DEST_PATH_IMAGE041
in order to be the derivative of the aerodynamic velocity,
Figure 210364DEST_PATH_IMAGE043
is the acceleration of gravity.
3.
Figure 895423DEST_PATH_IMAGE045
、
Figure 512350DEST_PATH_IMAGE047
Is a periodic variable pitch in the longitudinal and lateral directions,
Figure 723888DEST_PATH_IMAGE049
is the time constant of the rotor, and is,
Figure 400857DEST_PATH_IMAGE051
、
Figure 573212DEST_PATH_IMAGE053
、
Figure 728250DEST_PATH_IMAGE055
、
Figure 558410DEST_PATH_IMAGE057
in order to achieve the equivalent control effect,
Figure 406280DEST_PATH_IMAGE059
，
Figure 65931DEST_PATH_IMAGE061
is a pneumatic coupling derivative;
neglecting the influence of longitudinal and lateral coupling factors, the attitude model is simplified into two decoupled single-channel models as follows:
(1) pitch channel model:
Figure 24660DEST_PATH_IMAGE062
wherein
Figure 945212DEST_PATH_IMAGE064
Describing the difference between the derivative of the pitch angle and the pitch angle rate,
Figure 963983DEST_PATH_IMAGE066
、
Figure 110931DEST_PATH_IMAGE068
ignoring parts for a modeling process
Figure 873350DEST_PATH_IMAGE070
、
Figure 913988DEST_PATH_IMAGE072
Unmodeled parts and disturbances during flight; wherein the content of the first and second substances,
Figure 838081DEST_PATH_IMAGE074
，
Figure 472325DEST_PATH_IMAGE076
。
(2) roll channel model:
Figure 631911DEST_PATH_IMAGE077
wherein
Figure 668000DEST_PATH_IMAGE079
Describing the differential in roll and the roll rate,
Figure 762995DEST_PATH_IMAGE081
、
Figure 884535DEST_PATH_IMAGE083
ignoring parts for a modeling process
Figure 614856DEST_PATH_IMAGE085
、
Figure 239872DEST_PATH_IMAGE087
Unmodeled parts and disturbances during flight; wherein the content of the first and second substances,
Figure 771347DEST_PATH_IMAGE089
，
Figure 114604DEST_PATH_IMAGE091
；
the two channel models are further transformed:
Figure 147151DEST_PATH_IMAGE092
formula (1)
Figure 892253DEST_PATH_IMAGE093
Formula (2)
Second step dilation observation (ESO) design:
according to the formula (1) and the formula (2), the
Figure 594630DEST_PATH_IMAGE095
、
Figure 425183DEST_PATH_IMAGE097
Etc. are extended to a fourth state variable in the model.
5. And designing a linear observer according to the design method of the extended observer, wherein the observer is shaped as
Figure 995841DEST_PATH_IMAGE098
Wherein the content of the first and second substances,
Figure 595450DEST_PATH_IMAGE100
pitch angle or roll angle, respectively;
the third stepH ∞ Designing a robust controller:
robust control using loop shapingH ∞ The robust control structure is a robust control structure,
Figure 468728DEST_PATH_IMAGE102
、
Figure 786577DEST_PATH_IMAGE104
、
Figure 895347DEST_PATH_IMAGE106
respectively, a weighting function and a controller.
6. The state quantity Z1 of the ESO output is fed back, and Z4 compensates the control quantity.
CN202010228572.0A 2020-03-27 2020-03-27 Unmanned helicopter attitude robust control method based on extended observer Active CN111399527B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010228572.0A CN111399527B (en) 2020-03-27 2020-03-27 Unmanned helicopter attitude robust control method based on extended observer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010228572.0A CN111399527B (en) 2020-03-27 2020-03-27 Unmanned helicopter attitude robust control method based on extended observer

Publications (2)

Publication Number Publication Date
CN111399527A true CN111399527A (en) 2020-07-10
CN111399527B CN111399527B (en) 2023-08-04

Family

ID=71429248

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010228572.0A Active CN111399527B (en) 2020-03-27 2020-03-27 Unmanned helicopter attitude robust control method based on extended observer

Country Status (1)

Country Link
CN (1) CN111399527B (en)

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006121997A (en) * 2004-10-29 2006-05-18 Fuji Heavy Ind Ltd Unmanned helicopter and method for controlling the same
US20110307126A1 (en) * 2008-12-15 2011-12-15 Saab Ab Measuring of a landing platform of a ship
CN103425135A (en) * 2013-07-30 2013-12-04 南京航空航天大学 Near space vehicle robust control method with input saturation
CN103760905A (en) * 2014-01-29 2014-04-30 天津大学 Nonlinear robust control method of posture of single-rotor unmanned helicopter based on fuzzy feedforward
CN103853157A (en) * 2014-03-19 2014-06-11 湖北蔚蓝国际航空学校有限公司 Aircraft attitude control method based on self-adaptive sliding mode
CN104932512A (en) * 2015-06-24 2015-09-23 北京科技大学 Quadrotor posture control method based on MIMO nonlinear uncertain backstepping approach
CN105116905A (en) * 2015-05-26 2015-12-02 芜湖航飞科技股份有限公司 Aircraft attitude control method
US20170153650A1 (en) * 2015-11-30 2017-06-01 Metal Industries Research & Development Centre Multiple rotors aircraft and control method
US20180222573A1 (en) * 2017-02-07 2018-08-09 Bell Helicopter Textron Inc. System and method for stabilizing longitudinal acceleration of a rotorcraft
WO2019024303A1 (en) * 2017-08-02 2019-02-07 华南理工大学 Stable flight control method for multi-rotor unmanned aerial vehicle based on finite-time neurodynamics
CN109634296A (en) * 2018-12-18 2019-04-16 南京航空航天大学 Small drone catapult-assisted take-off control system and method based on the robust theory of servomechanism
CN109683624A (en) * 2019-01-31 2019-04-26 天津大学 Nonlinear robust control method for small-sized depopulated helicopter gesture stability
CN110597054A (en) * 2019-05-15 2019-12-20 浙江华奕航空科技有限公司 Linear variable parameter robustness control method for coaxial unmanned helicopter course

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006121997A (en) * 2004-10-29 2006-05-18 Fuji Heavy Ind Ltd Unmanned helicopter and method for controlling the same
US20110307126A1 (en) * 2008-12-15 2011-12-15 Saab Ab Measuring of a landing platform of a ship
CN103425135A (en) * 2013-07-30 2013-12-04 南京航空航天大学 Near space vehicle robust control method with input saturation
CN103760905A (en) * 2014-01-29 2014-04-30 天津大学 Nonlinear robust control method of posture of single-rotor unmanned helicopter based on fuzzy feedforward
CN103853157A (en) * 2014-03-19 2014-06-11 湖北蔚蓝国际航空学校有限公司 Aircraft attitude control method based on self-adaptive sliding mode
CN105116905A (en) * 2015-05-26 2015-12-02 芜湖航飞科技股份有限公司 Aircraft attitude control method
CN104932512A (en) * 2015-06-24 2015-09-23 北京科技大学 Quadrotor posture control method based on MIMO nonlinear uncertain backstepping approach
US20170153650A1 (en) * 2015-11-30 2017-06-01 Metal Industries Research & Development Centre Multiple rotors aircraft and control method
US20180222573A1 (en) * 2017-02-07 2018-08-09 Bell Helicopter Textron Inc. System and method for stabilizing longitudinal acceleration of a rotorcraft
WO2019024303A1 (en) * 2017-08-02 2019-02-07 华南理工大学 Stable flight control method for multi-rotor unmanned aerial vehicle based on finite-time neurodynamics
CN109634296A (en) * 2018-12-18 2019-04-16 南京航空航天大学 Small drone catapult-assisted take-off control system and method based on the robust theory of servomechanism
CN109683624A (en) * 2019-01-31 2019-04-26 天津大学 Nonlinear robust control method for small-sized depopulated helicopter gesture stability
CN110597054A (en) * 2019-05-15 2019-12-20 浙江华奕航空科技有限公司 Linear variable parameter robustness control method for coaxial unmanned helicopter course

Also Published As

Publication number Publication date
CN111399527B (en) 2023-08-04

Similar Documents

Publication Publication Date Title
CN109614633B (en) Nonlinear modeling and linearization balancing method for composite rotor craft
CN102830622B (en) Auto-disturbance-rejection automatic flight control method for four-rotor aircraft
CN105807789B (en) UUV control methods based on the compensation of T-S Fuzzy Observers
CN111024064B (en) SINS/DVL combined navigation method for improving Sage-Husa adaptive filtering
CN109782795B (en) Transverse control method and control system for coupled surface-symmetric hypersonic aircraft
CN108873929B (en) Method and system for autonomous landing of fixed-wing aircraft
CN110244751B (en) Attitude self-adaptive recursion control method and system for hypersonic aircraft
CN109358504B (en) Four-rotor track/attitude composite anti-interference tracking control method based on adaptive integral robustness
CN109703768B (en) Soft air refueling docking method based on attitude/trajectory composite control
CN106708064A (en) Vertical plane control method for underwater robot
CN111367182A (en) Hypersonic aircraft anti-interference backstepping control method considering input limitation
CN109141476B (en) A kind of decoupling method of angular speed during Transfer Alignment under dynamic deformation
CN111176306B (en) Gain-variable active-disturbance-rejection longitudinal control method for underwater vehicle
CN109032171A (en) A kind of control method of the aircraft wind tunnel free-flight based on Nonlinear control law
CN106248082B (en) A kind of aircraft autonomous navigation system and air navigation aid
CN109375515B (en) Online identification method for dynamic characteristics of online trajectory planning of vertical take-off and landing rocket
CN110116409A (en) A kind of four-way remote operating bilateral control method based on disturbance observer
CN110209192A (en) Fighter plane course augmentation control design method
CN110723309A (en) Method for measuring rotational inertia of quad-rotor unmanned aerial vehicle
CN112947522B (en) Hard air refueling attitude control method based on finite time observer
CN113625732A (en) Incremental feedback inverse angular velocity control law design method based on angular acceleration estimation
CN111399527A (en) Unmanned helicopter attitude robust control method based on extended observer
CN116755337A (en) Hypersonic aircraft fault-tolerant control method based on long-short-term memory neural network linear active disturbance rejection control
CN116679548A (en) Three-degree-of-freedom helicopter robust output feedback control method based on time-varying observer
CN114564047B (en) Unmanned aerial vehicle constant-speed flight control method considering meteorological conditions

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant