面向扰动不确定性的仿鸟扑翼飞行器反步姿态控制OA

To address the highly nonlinear characteristics of the dynamics of bird-like flapping-wing aircrafts and the impact of internal and external disturbances on control performance,this paper proposes a backstepping attitude controller based on a disturbance observer(DOB).First,based on blade element theory,the aerodynamic characteristics of the wings are analyzed to calculate the torques,and the three-axis control torques generated by the tail on the body attitude are estimated.Then,a nonlinear dynamic model of the body is built using the Newton-Euler equations to fully reflect the nonlinear motion characteristics of the aircraft.The backstepping method is employed to recursively build a Lyapunov function and design the control law.For system disturbance,a disturbance observer is designed to estimate and compensate for the disturbances in real time.Next,based on Lyapunov stability theory,the global stability of the designed control system is proven.Numerical simulation analysis shows the control overshoots of the roll,pitch,and yaw angles with the controller stand at 10.9%,7.84%,and 2.4%respectively,with tracking error magnitudes of only 1.32%,0.4%,and 0.58%.Compared with the backstepping controller without a DOB,this approach markedly improves the system's disturbance rejection capability and control accuracy,demonstrating fairly good tracking performance and robustness in the presence of external disturbances.