基于干扰观测器设计了无人机着陆飞行逆控制器。根据时标分离的原则,将无人机系统分解为快慢不同的4个回路,采用动态逆的方法设计快回路、慢回路和非常慢回路控制器,并且在慢回路引入干扰观测器估计无人机所受的扰动和在线估计动态逆误差,降低控制器对干扰和模型精确度的要求,增强控制器的鲁棒性。仿真结果说明所设计的无人机着陆控制器是非常有效的。

A dynamic inverse controller is designed based on disturbance observer for landing control of Unmanned Aerial Vehicles (UAV). According to the time scale separation principle,the UAV system is divided into four subsystems. The dynamic inverse controllers are designed respectively for the “quick” loop,the “slow” loop and the “very slow” loop. The disturbance observer is used in the slow loop to evaluate the disturbance and to on-line estimate the model inversion error. It reduces the restrain conditions on disturbance and the demand of model accuracy and improves the robust performance of the controller. Simulation demonstrated that the proposed landing controller for UAVs is feasible and very effective.