Abstract:

As an important guarantee for the expansion of the unmanned aerial vehicle (UAV) mission, the maneuver flight capability has been widely paid attention to by many countries. According to the characteristics of flying wing UAV lack of manipulate ability,strong nonlinearity and coupling, a control scheme is presented that the inner loop uses linearization decoupling methods to eliminate the known negative coupling, the outer loop uses backstepping methods for trajectory tracking control, and the particle swarm optimization compensator is used to compensate the disturbance and the non-modeling coupling term and to ensure that the system has the ability to adapt to various disturbances. The stability of the control structure is proved.Compared with the traditional backstepping control method, the controller increases the inner loop decoupling structure.Different from the traditional dynamic inverse decoupling control method, this paper retains the aerodynamic damping term in the control structure, which makes the linearization of the system a weak nonlinear system.The structure not only can reduce the conservatism of the outer loop controller design, but also is convenient for engineering realization.Simulation results show that the proposed control scheme is effective.