基于并联差分补偿的非最小相位动力学无人机控制

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2022-08-22 DOI:10.1109/MMAR55195.2022.9874294

Agnieszka Pukacz, J. Kabzinski

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引用次数: 1

摘要

针对非最小相位系统，提出了一种新的控制方法。并联的微分补偿器用于将RHP零点移动到LHP位置。将该方法应用于无尾固定翼无人机的俯仰角控制器设计。示例演示控制器调谐和系统性能。

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Control of Unmanned Aerial Vehicles with Non-Minimum Phase Dynamics Using Parallel Differential Compensation

A novel control approach is proposed for non-minimum phase systems. A differential compensator connected parallel to the plant is used to move RHP zeros to LHP positions. The proposed approach is applied to design a new autopilot – pitch angle controller for a tailless fix-wing drone. Examples demonstrate controller tuning and system performance.

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来源期刊

2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)

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