Research On Unmanned Flight Control System Based On U Model

During the study of the unmanned flight control system,different research objects(under-actuated or over-actuated)may be different.Even for a class of under-actuated or over-actuated systems,the model parameters of different controlled objects are also different.This causes the same control method to apply to different system objects,it needs to be repeated,which brings great inconvenience to research.The U model can be used to represent a large class of nonlinear controlled objects,and it can meet the performance requirements of nonlinear control systems when combined with linear control methods.Therefore,this paper applies it to the design of unmanned flight control system.Based on the U-model invariant controller theory,this paper designs the general controller algorithm for the under-actuated unmanned flight control system and the over-actuated unmanned flight control system.When solving the under-actuated system problem,a decoupling algorithm based on the U model is designed.And on this basis,the controller of the system is designed by using the method of linear pole placement,and the simulation verification is carried out on the model of the vertical take-off and landing unmanned aerial vehicle.The result meets the performance requirements.When solving the problem of the over-actuated system,the adaptive sliding mode control algorithm based on the U-block model is used as the virtual control law of the over-actuated system,and simulation verification is carried out on the over-actuated hexarotor unmanned aerial vehicle model.This paper focuses on the decoupling control algorithm of under-actuated system based on U model and adaptive sliding mode control algorithm of over-actuated system based on U-block model.The mathematical description of the algorithm is given,and simulation experiments are carried out on the unmanned aerial vehicle system.The experimental results prove that the algorithm meets the performance requirements of the system.At the same time,it explains the versatility and simplicity of the control system design based on the U model.