Research On UAV Flight Control Method Based On Robust H_?/S-plane Model

Unmanned aerial vehicles(UAVs)are required to have good control performance and stability when they are subjected to external disturbances.Generally speaking,the simpler the control model is,the higher the control precision is,and the more it can meet the requirements of UAV as a special carrier.Therefore,this paper applies the simple and high precision s-plane control of the control model to the flight control of UAV,and the model has been widely used in the field of underwater robot.At the same time,a control method based on the robust H_?/S-plane model is designed.For this control method,longitudinal flight simulation test,lateral flight simulation test and model parameter uncertainty are studied by taking a certain UAV as an example.To solve the problem of UAV longitudinal flight control,robust H_?control is adopted in this paper to control the variation of pitch angle of the inner ring,and S plane control is adopted in the outer ring to control the deviation and deviation rate of height and speed.The pitch Angle response,height response and velocity response with or without external disturbance are studied.The rapidity and stability of the robust H_?/S-plane model control method are analyzed.Faced with the problem of lateral control of UAV,a robust H_?controller was designed to control the sideswipe angle,and the deviation and deviation change rate of the roll Angle were controlled by the s-plane control.The roll Angle response and lateral trajectory change response with or without external disturbance are analyzed by simulation test.The performance of the robust H_?/S surface model control method is studied.The control law designed in this paper is evaluated by using the method of structural singular value analysis.The process of control law evaluation is analyzed and the method of structure singular value analysis is explained.Simulation tests were carried out for UAV height control with parameter perturbation of±20%,and the robust performance of the robust H_?/S-plane model control method was studied and analyzed.