全文下载：2012060629
陶冶， 袁书明
（中国人民解放军92857部队， 北京 100161）
摘要： 针对一类常规布局的小型无人飞行器（MUAV）定点飞行任务中存在的模型精度低受扰因素多的问题，提出了基于扰动观测器控制(DOBC)与H∞优化的MUAV抗干扰控制方法，有效地实现了在谐波和阵风扰动情况下对MUAV的稳定控制。文中首先建立了在阵风扰动情况下MUAV的动力学模型，在此基础上通过将DOBC与H∞控制方法相结合，使得MUAV闭环系统在没有干扰信号时渐近稳定，在有扰动信号时满足H∞控制性能指标要求。仿真结果表明，本文提出的控制算法能有效抑制MUAV多源扰动的影响, 且可获得良好的动态跟踪性能。
关键词: 小型无人飞行器； 扰动观测器； H∞控制； 扰动抑制
中图分类号： V 448.224 文献标志码： A
收稿日期：2012-06-12
作者简介： 陶冶（1979—），男，博士.
Research on Anti-disturbance Control Method Based on Disturbance-observer and H∞ Optimization for MUAV
TAO Ye, YUAN Shu-ming
(Military Unit 92857, People’s Liberation Army,Beijing100161,China)
Abstract: In general, the performance of the MUAV suffers from the low-precision model and the disturbance of gust. We present a hierarchical control scheme based on disturbance-observer-based control (DOBC) and H∞ optimization control for MUAV, the stability of resulting close-loop is guaranteed in presence of harmonic disturbance. By combining DOBC with H∞ control, closed-loop systems are asymptotically stable without disturbances and satisfy H ∞control performance with disturbances. The experimental results show that the controller has good performance in restraining unfavorable effects from multiple disturbances. In addition, dynamic tracking performance is well guaranteed.
Key words: MUAV；disturbance observers，H∞ control，disturbance attenuation
