论文标题
与风干扰的混合动力无人机建模和最佳控制
Modeling and Optimal Control of Hybrid UAVs with Wind Disturbance
论文作者
论文摘要
本文介绍了在有风干扰的情况下垂直起飞和降落的六度无人驾驶飞机的建模和控制。我们设计了一种混合动力汽车，该车辆结合了固定翼和旋转翼无人机的好处。混合动力汽车的非线性模型是迅速建造的，结合了刚体动力学，机翼的空气动力学以及电动机和螺旋桨的动力学。此外，我们设计了一个H2最佳控制器，以使无人机鲁棒性可进行风干扰。我们将其结果与基于PID和基于LQR的控制的结果进行比较。我们提出的控制器在两种情况下的根平方错误和时间响应方面可以更好地性能：悬停和级别飞行。
This paper addresses modeling and control of a six-degree-of-freedom unmanned aerial vehicle capable of vertical take-off and landing in the presence of wind disturbances. We design a hybrid vehicle that combines the benefits of both the fixed-wing and the rotary-wing UAVs. A non-linear model for the hybrid vehicle is rapidly built, combining rigid body dynamics, aerodynamics of wing, and dynamics of the motor and propeller. Further, we design an H2 optimal controller to make the UAV robust to wind disturbances. We compare its results against that of PID and LQR-based control. Our proposed controller results in better performance in terms of root mean squared errors and time responses during two scenarios: hover and level-flight.
