Aiming at the problem of insufficient control ability and parameter uncertainty in the actual control of fly-Wing UAV, this paper adopts the combination of dynamic inverse control and H∞ robust control to realize the precision redundant dynamic control of fly-Wing UAV with high robustness. Lzt1At the same time, based on the characteristics of multi compound control surfaces of fly-Wing UAV, the coordinated control of the control surfaces of fly-Wing UAV is realized by the combination of daisy chain control allocation and generalized inverse method. The simulation results show that: the control method can complete the task of control allocation of fly-Wing UAV, the dynamic response is fast and smooth, the steady-state error is small, and it is easy to realize under the condition of parameter uncertainty and external disturbance.
Control Method of Fly-Wing UAV Based on H∞ Robust Control and Control Allocation
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 219 ; 2213-2225
2022-03-18
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Control Method of Fly-Wing UAV Based on H∞ Robust Control and Control Allocation
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