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The UAV Robust dynamic inversion control study

Author: LiLinZuo
Tutor: YangJun
School: Northwestern Polytechnical University
Course: Navigation,Guidance and Control
Keywords: UAV Flight control Dynamic inversion H_ ∞ Robust Control
CLC: V249.1
Type: Master's thesis
Year: 2007
Downloads: 745
Quote: 6
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Abstract


The UAV control study is one of the key technologies for UAVs research projects , our research in this regard in the theory and engineering is actually still in its infancy . This article is based on the self- control of the latest theories and research , in-depth study of foreign UAV first attempt at using the dynamic inversion technology and H_ ∞ robust control method designed the UAV robust dynamic inversion control system . First, to study the mathematical model of the UAVs , under simplified conditions derived object six degrees of freedom nonlinear equations of motion and the actuator model . Runge - Kutta method and model simulation analysis to confirm the validity of the model . Then layered structure dynamic inverse controller design of the inner loop and outer loop control law . Next controller based on dynamic inversion in aircraft parameter perturbation can not meet the control requirements of the fact , the loop shaping controller design based on H_ ∞ theory , so that the system has good robustness . Simulation results show that the nonlinear dynamic inversion is an exact linearization method , if the model is sufficiently accurate , this method is , in theory, will receive very good results through the system . But inevitably there for the actual system parameter perturbation , its control effect is not ideal . H_ ∞ robust control method to introduce a good solution to this problem , the control system has good dynamic performance , tracking performance , decoupling performance and robustness of performance . Design UAV flight control system is feasible and effective application of this new robust dynamic inversion control method .

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CLC: > Aviation, aerospace > Aviation > Aircraft instrumentation,avionics, flight control and navigation > Flight control system and navigation > Flight control
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