Composite layer anti-interference control method for deformable unmanned aerial vehicle

Abstract

The invention discloses a composite layer anti-interference control method for a deformable unmanned aerial vehicle. The method comprises the steps that an unmanned aerial vehicle with variable sweepand variable span. The method comprises the steps that the unmanned aerial vehicle with variable sweep and variable span is taken as a study object, and firstly, a nonlinear model of the unmanned aerial vehicle is subjected to Jacobian linearization; external gust interference and equivalent interference brought by parameter perturbation are considered, and a multi-cell LPV system model of the deformable unmanned aerial vehicle containing multiple interference kinds is built; then regarding a constant value and slow varying interference, an interference observer meeting the H8performance indexis designed for compensation, and an H8control law is designed for optimizing a closed loop transfer function regarding the conditions of not representing dynamic characteristics of the interferenceobserver and facing L2 bound norm bounded interference to inhibit bounded interference; finally, and the interference observer is combined with the H8control law to construct a composite layer anti-interference controller; the method has the advantages that the method of sorting and treating multiple interference kinds for the deformable unmanned aerial vehicle, and the method can be applied to interference control of composite layers of other motion bodies with more complex system models.

Description

technical field [0001] The invention relates to a compound layered anti-jamming control method of a variant unmanned aerial vehicle. The method is too complex for the nonlinear model of the system, and when it is difficult to solve the controller, the LPV system is transformed. Considering that the system is faced with Constant disturbances, slowly changing bounded equivalent disturbances, and L with unknown dynamics 2 It is a general method to classify and deal with disturbances in the presence of norm-bounded disturbances at the same time. This method can be extended to the anti-jamming control problems of ground robots with complex control system models and other moving bodies such as vehicles. Background technique [0002] In recent years, with the development of technology and actual needs, people have put forward higher requirements for the reliability, maneuverability, and precision of UAVs. Variant UAVs change the wingspan, folding wings, and rear of the aircraft. G...

AI Technical Summary

Problems solved by technology

In different flight states, by changing the shape of the aircraft, the best flight performance can be achieved, and tasks that conventional drones cannot complete can be completed. However, the dynamic model faced by variant drones is too complex, resulting in the Nonlinear control systems face great difficulties and challenges in the design of control laws

In order to not only reduce the difficulty of controller design, but also qualitatively or quantitatively describe the control performance of the original system, a linearization processing of the nonlinear control system of the variant UAV is proposed. LPV system transformation, and considering the constant disturbance and slowly changing bounded equivalent disturbance, further considering the dynamic unknown norm bounded disturbance instead of the influence of the disturbance in the actual nonlinear system on the control system, a kind of affine parameter dependence is designed Composite layered anti-jamming state feedback controller to replace the complex nonlinear control model for the anti-jamming control problem in the variant UAV variant process

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