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Composite block backstepping trajectory tracking control for disturbed unmanned helicopters

机译：扰动无人直升机的复合块反推轨迹跟踪控制

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摘要

In this paper, the position and yaw angle trajectory tracking control problem is studied for unmanned helicopters subject to both matched and mismatched disturbances. To achieve the trajectory tracking goal, a feedforward-feedback composite control scheme is proposed based on the combination of the generalized proportional integral observer and the block backstepping control techniques. The controller design process mainly consists of two stages. In the first stage, some generalized proportional integral observers are developed for the helicopter system to estimate the mismatched, matched disturbances and their (higher-order) derivatives. In the second stage, the composite controller is designed by integrating the block backstepping control method and the disturbance estimates together. The proposed composite scheme guarantees asymptotic tracking performances for the position and yaw angle of the helicopter to the desired trajectories even in the presence of fast time-varying disturbances. Numerical simulations demonstrate the effectiveness of the proposed composite control scheme. (C) 2018 Elsevier Masson SAS. All rights reserved.
机译：本文研究了无人直升机在匹配和不匹配干扰下的位置和偏航角轨迹跟踪控制问题。为了达到轨迹跟踪的目的，提出了一种基于广义比例积分观测器和块反推控制技术相结合的前馈-反馈复合控制方案。控制器设计过程主要包括两个阶段。在第一阶段，为直升机系统开发了一些广义比例积分观测器，以估计失配，匹配的扰动及其（高阶）导数。在第二阶段，通过将块反推控制方法和干扰估计值集成在一起来设计复合控制器。所提出的复合方案即使在快速时变扰动的情况下也能保证直升机的位置和偏航角到所需轨迹的渐近跟踪性能。数值模拟证明了所提出的复合控制方案的有效性。 （C）2018 Elsevier Masson SAS。版权所有。

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