论文标题
基于能量状态的MAV的强大协调的纵向控制
Robust Coordinated Longitudinal Control of MAV Based on Energy State
论文作者
论文摘要
固定翼微型航空车（MAV）不仅与纵向运动相结合，而且由于其较轻的重量而更容易受到风干扰，这给其高度和空速控制器设计带来了更多的挑战。因此，在本文中，提出了基于能量状态的改进的纵向控制策略，以解决上述问题。控制策略利用线性扩展状态观察者（LESO）观察能量状态和MAV的干扰，然后根据更协调的总能量控制（TEC）策略来设计一个多输入多输出（MIMO）控制器，以控制MAV的空速和高度。该控制策略的性能已在使用Simulink的模型（MIL）模拟中成功验证，并对经典TEC算法进行了比较测试。
Fixed-wing Miniature Air Vehicle (MAV) is not only coupled with longitudinal motion, but also more susceptible to wind disturbance due to its lighter weight, which brings more challenges to its altitude and airspeed controller design. Therefore, in this paper, an improved longitudinal control strategy based on energy state, is proposed to address the above-mentioned issues. The control strategy utilizes the Linear Extended State Observer (LESO) to observe the energy states and the disturbance of the MAV, and then designs a Multiple-Input Multiple-Output (MIMO) controller based on a more coordinated Total Energy Control (TEC) strategy to control the airspeed and altitude of the MAV. The performance of this control strategy has been successfully verified in a Model-in-the-Loop (MIL) simulation with Simulink, and a comparative test with the classical TEC algorithm is carried out.
