为了更好地体现和满足多旋翼无人直升机的实际工作特点和飞行需求, 在考虑不确定、外界干扰等因素的影响下, 研究了该无人机飞行状态受限情况下的姿态控制问题。首先, 给出了该无人机的数学模型, 同时为重构出姿态系统中的未知复合干扰并用于设计补偿控制律, 设计了一种SMDO干扰重构算法;随后, 为解决状态受限以及避免回馈递推控制器设计过程中的微分膨胀问题, 设计了基于SMDO干扰补偿和受限指令滤波的姿态控制器;最后, 通过仿真试验验证了算法的正确性。

In order to better reflect and meet the actual operation and flight demand of multi motor unmanned helicopter, the problem of attitude control for the helicopter with flight state constraints is discussed, taking into consideration of uncertain and external disturbance factors. Firstly, the mathematical model of the unmanned helicopter is given by Newton Euler formulas. Secondly, a SMDO disturbance reconstruction algorithm is designed to reconstruct the unknown compound interference in the attitude system and to design the compensation control law. Thirdly, in order to address the state constraints and avoid the differential expansion in design of back stepping controller, an attitude controller based on the SMDO disturbance compensation and constrained command filter is designed. Finally, the correctness of the designed algorithm is verified through simulation experiment.