现有的无人直升机模型具有阶数高、精确建模困难、外部干扰大等缺点,因此,设计常规反步控制器面临着计算量大、抗干扰能力不足、轨迹跟踪效果差等问题. 为此,文中提出了一种基于鲁棒积分滤波反步法的无人直升机飞行控制方法. 该方法采用滤波器对虚拟控制量进行求导,以解决反步控制器的微分爆炸问题;通过引入积分项和不连续的鲁棒项来提高闭环系统的抗干扰能力,消除轨迹跟踪静态误差. 理论分析和仿真结果表明,该方法是有效、可行的.

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.