Microminiature unmanned aerial vehicle controlling method having network random delay problem

Abstract

The invention discloses a microminiature unmanned aerial vehicle controlling method having a network random delay problem. The microminiature unmanned aerial vehicle controlling method belongs to the technical field of flight control, and comprises the following steps of: establishing an unmanned aerial vehicle system model and designing a control law; analyzing random robustness of a system having the network random delay problem; determining a network updating cycle, an optimization index and index weight; designing a robustness control law by a random robustness designing method; and implementing closed loop six-freedom degree nonlinearity Monte Carlo simulation verification, wherein in the step 2, the network random delay problem includes sensor observation delay, executor control delay and hybrid delay with superposition of observation and control. According to the controlling method, shortcomings of high requirement on communication quality and poor robustness of a conventional linear secondary regulator are overcome; a controlling method based on robustness analysis and design is introduced to control the unmanned aerial vehicle based on a network, thereby reducing a requirement on updating rate of a formation wireless data chain of the unmanned aerial vehicle, and enhancing robustness of formation of the unmanned aerial vehicle.

Description

technical field [0001] The invention relates to the control of a miniature unmanned aircraft with network random delay, belongs to the technical field of flight control, and in particular relates to a control method of a miniature unmanned aircraft with network random delay. Background technique [0002] At present, as many as 30 countries have invested a lot of manpower and financial resources in the research and production of drones. After two decades of development, this technology has become relatively mature and has played a role in various military and civilian fields. However, there are some problems when a single UAV performs tasks. For example, a single UAV may be affected by the number of sensors. Due to limitations, the target area cannot be observed in all directions from multiple angles. When faced with a large-scale search task, it cannot effectively cover the entire search area; The efficiency of the entire rescue will bring greater losses. In addition, once ...

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Problems solved by technology

[0009] The purpose of the present invention is to solve the above-mentioned problems, aiming at the unavoidable wireless ad hoc network random delay problem in the formation flight process of unmanned aerial vehicles, and the over-conservative shortcoming of the existing network flight control system design method, introduces random robustness The analysis and design method solves the shortcomings of the traditional linear quadratic regulator (LQR) control, which has high requirements on communication quality and poor robustness, and reduces the requirements on the update rate of the formation wireless data link, so that the aircraft can be controlled in the presence of The control quality can still meet the requirements in the case of large network random delay

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