论文标题
无人机控制的信号校正器和解耦估计
Signal corrector and decoupling estimations for UAV control
论文作者
论文摘要
对于一类具有大误差传感的不确定系统，根据完全解耦的估计，提出了低阶稳定信号校正器和观察者进行信号校正和不确定性估计。信号校正器可以拒绝全球位置传感中的较大误差，并且系统不确定性可以由观察者估算，甚至存在随机非高斯噪声。校正器和观察者被应用于无人机导航和控制位置/姿态角度的大校正校正以及无人机飞行动力学中的不确定性估计。控制定律是根据校正估计结果设计的。最后，实验证明了该方法的有效性。
For a class of uncertain systems with large-error sensing, the low-order stable signal corrector and observer are presented for signal correction and uncertainty estimation according to completely decoupling estimation. The signal corrector can reject the large error in global position sensing, and system uncertainty can be estimated by the observer, even the existence of stochastic non-Gaussian noise. The corrector and observer are applied to a UAV navigation and control for large-error corrections in position/attitude angle and the uncertainties estimation in the UAV flight dynamics. The control laws are designed according to the correction-estimation results. Finally, experiments demonstrate the effectiveness of the proposed method.
