| 张啸天*,廖飞**,何德峰*.基于快速MPC的固定翼无人机空中着陆抗扰控制[J].高技术通讯(中文),2025,35(5):535~547 |
| 基于快速MPC的固定翼无人机空中着陆抗扰控制 |
| Fast MPC based disturbance rejection control for aerial landing of a fixed-wing UAV |
| |
| DOI：10. 3772 / j. issn. 1002-0470. 2025. 05. 009 |
| 中文关键词: 固定翼无人机； 空中着陆控制； 模型预测控制； 拓展状态观测器； 解耦控制 |
| 英文关键词: fixed-wing unmanned aerial vehicle(UAV), aerial landing control, model predictive control (MPC), extended state observer (ESO), decoupling control |
| 基金项目: |
| 作者 | 单位 | | 张啸天* | (*浙江工业大学信息工程学院杭州 310023)
（**中国空气动力研究与发展中心空天技术研究所绵阳 621000) | | 廖飞** | | | 何德峰* | |
|
| 摘要点击次数: 167 |
| 全文下载次数: 108 |
| 中文摘要: |
| 针对固定翼无人机(unmanned aerial vehicle，UAV)与舰载飞行平台间空中着陆的末段控制问题，提出一种基于快速模型预测控制(model predictive control，MPC)的固定翼无人机空中着陆抗扰控制方法。结合固定翼无人机动力学模型，在气流坐标系下对外界风扰动及着陆过程中抵近乱流扰动进行精确建模。设计拓展状态观测器(extended state observer，ESO)，估计空中着陆末段过程的系统状态和特殊集总扰动，实现扰动有效补偿。进一步，根据固定翼无人机纵-横向的解耦动力学模型将固定翼无人机的空中着陆控制问题描述为约束下有限时域最优控制问题即MPC问题，并构建针对近端随机障碍的线性化约束；应用拉格朗日法和滚动时域优化原理，获得MPC问题在约束条件下的近似最优解。数值对比仿真实验验证了所提出的空中着陆扰动补偿解耦控制方法具有较好的抗扰性能及实时性能，能够满足空中自动对接着陆的任务需求。 |
| 英文摘要: |
| A novel disturbance rejection control method based on fast model predictive control (MPC) is proposed to solve the aerial approaching control problem of a fixed-wing unmanned aerial vehicle (UAV) landing at a ship borne flight platform. By combination of the dynamics of the fixed-wing UAV, the external wind disturbance and the approaching turbulence disturbance are accurately modeled in the airflow coordinates. Then the extended state observer (ESO) is designed to estimate the system state and the specific lumped disturbance during the approaching phase of aerial landing, and the effective compensation of the disturbance is implemented as well. Furthermore, the longitudinal and lateral decoupling dynamics models of a fixed wing UAV are applied to formulate the aerial landing control problem as a finite horizon optimal control problem subject to constraints. In the problem, the linearized constraints for nearby random obstacles are constructed. By using the Lagrange method and receding horizon optimization principle, the approximate analytical solution to the constrained MPC problem is obtained. Finally, the numerical comparison and simulation experiments verify that the proposed decoupled disturbance rejection control method has elegant disturbance rejection performance and real time performance, which well meets the requirements of automatic aerial landing. |
|
查看全文
查看/发表评论 下载PDF阅读器 |
| 关闭 |
