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Nonlinear control design for high-speed unmanned aerial vehicle with unstable zero dynamics

机译：零动力学不稳定的高速无人机非线性控制设计

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摘要

In this paper we consider nonlinear control of high-speed unmanned aerial vehicle with strong coupling effects. The coupling between aerodynamics, flexible structure and propulsion system will bring great challenges for longitudinal vehicle model control. In order to overcome the unstable zero dynamics of this model which caused by strong couplings, an auxiliary plant is constructed for the purpose of feedback control design. Then, a decoupling nonlinear controller is designed. The reference tracking for the velocity and altitude of the unmanned aerial vehicle can be achieved. Simulation results using the flexible vehicle model which include intricate couplings between the engine and flight dynamics are presented to illustrate the effectiveness of the proposed method.
机译：在本文中，我们考虑具有强耦合效应的高速无人机的非线性控制。空气动力学，柔性结构和推进系统之间的耦合将为纵向车辆模型控制带来巨大挑战。为了克服该模型由于强耦合而引起的不稳定的零动力学特性，出于反馈控制设计的目的，构建了辅助工厂。然后，设计了一个解耦非线性控制器。可以实现对无人机速度和高度的参考跟踪。提出了使用灵活的车辆模型的仿真结果，其中包括发动机和飞行动力学之间的复杂耦合，以说明所提出方法的有效性。

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