关键词: 无人直升机, 轨迹跟踪, 鲁棒控制, 滤波反步法, 静态误差

Abstract:

As the existing model of unmanned helicopters is of high order, great difficulty in precise modeling and low robustness to external disturbances, the design of the normal backstepping method-based controller for helicop-ters encounters such problems as high calculation complexity, poor disturbance resistance and inaccurate trajectory tracking. In order to solve these problems, a robust integral filtering backstepping controller is proposed, which uses filters to compute the time derivatives of virtual controlled variables for avoiding the differential explosion in the normal backstepping controller, and introduces an integral term and a discontinuous robust term to improve the dis-turbance resistance and eliminate the static error of trajectory tracking. Theoretical analysis and simulation results show that the proposed method is effective and feasible.

Key words: unmanned helicopter, trajectory tracking, robust control, filtering backstepping, static error