无人直升机大机动飞行鲁棒控制

项目名称： 无人直升机大机动飞行鲁棒控制

项目编号： No.61203071

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 陆耿

作者单位： 清华大学

项目金额： 24万元

中文摘要： 无人直升机是一种具有高度自由度和灵活性的空中飞行平台，在军事和民用领域均具有广泛的应用前景。由于直升机具有多变量、欠驱动、非线性、强耦合、不确定性等特点，目前国内外已实现的自主飞行控制方法大多仅能令其工作于悬停或低机动飞行状态，限制了其应用范围。本研究拟在对无人直升机结构和动力学特性进行分析的基础上，提出一种基于信号补偿的鲁棒LQR姿态控制方法，以及一种信号补偿的鲁棒H无穷航迹跟踪控制方法，使无人直升机能实现高精度大机动自主飞行。研究工作将围绕系统分析、标称控制器设计、鲁棒补偿器设计、实验验证等环节展开。最终实现无需切换结构、可工作于多种飞行状态的无人直升机鲁棒姿态控制和鲁棒航迹控制。相关成果将扩大无人直升机的应用领域，如实现对地面高速运动物体的跟踪、有强风扰动情况下的精确航迹平稳飞行、海上舰艇起降等。

中文关键词： 无人直升机；鲁棒控制；编队控制；视觉控制；

英文摘要： Unmanned helicopter is an aerial platform with high freedom and flexibility, which has great application potential in both military and civil areas. Since the model of helicopter is multi-variable, under-actuated, nonlinear, strongly coupled and uncertain, the controller design is still very challenging. Until now most of the designed autonomous control strategies can make such vehicle flight under hover or mild maneuvers, which limits its application. This research will be carried out starting from theoretical modeling of unmanned helicopter system. Based on analysis of mechanical structure and dynamic property, a robust attitude controller design mehtod will be proposed based on LQR with a robust compensator. Furthermore, a robust trajectory tracking controller design method will be presented based on H∞ with a signal compensator. The goal of this research is to make unmanned helicopter flight in aggressive maneuvers with high precision automatically. The research work includes system analysis, nominal controller design, robust compen- sator design and experimental verifications. As the research target, both attitude regulation and trajectory tracking control can be achieved with the proposed robust control strategy under multiple flight status without controller switching. The related results will expand the

英文关键词： unmanned helicopter；robust control；swarm control；visual control；