A reference observer-based tracking control system is designed to achieve accurate trajectory tracking control in engineering application for an unmanned helicopter. According to the desired flight path, a real-time reference observer is developed to estimate the desired states and feed-forward control signals as the inputs of the tracking controller. Then the controller uses full-state feedback control method to realize trajectory tracking. A certain unmanned helicopter is chosen as the control plant, and the flight simulation is carried out in the typical maneuver of the helicopter. Simulation result shows the satisfactory performance of the system and the control approach is easy to be implemented in engineering for its simple algorithm.%为实现无人直升机在工程应用中的精确航迹跟踪控制,从工程应用的角度提出基于参考观测器的航迹跟踪控制方法.根据航迹指令,通过参考观测器实时估算出无人直升机期望跟踪的状态量与控制量,作为航迹跟踪控制器的参考输入,再利用全状态反馈控制,操纵直升机跟踪期望的航迹,并以某型直升机为控制对象,在典型机动下进行航迹跟踪控制仿真验证.结果表明,该系统具有良好的航迹跟踪性能,且算法简单,易于实现.
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