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    • 摘要: 为了提高多旋翼无人飞行器机载光电平台的扰动补偿能力,实现机载光电平台的稳定跟踪控制,提出一种基于改进扰动观测器和径向基函数(RBF)神经网络逼近的复合补偿控制方法。首先,对现有扰动观测器结构进行改进,构建基于速度信号的改进型扰动观测器,并分析了干扰补偿能力和稳健性;然后,利用RBF神经网络的函数逼近性质解决非线性未知扰动的补偿问题;最后,基于Lyapunov稳定性原理设计出复合补偿控制结构。实验结果表明,机载光电平台的扰动得到有效补偿。该补偿控制方法具有较高的稳定精度和跟踪控制性能,满足多旋翼无人飞行器机载光电平台的稳定控制要求。

       

      Abstract: In order to compensate disturbance and accomplish the stabilized tracking control for airborne platform mounted on multi-rotor unmanned aerial vehicle (MUAV), a self-adjusting tracking control method based on an improved disturbance observer (DOB) and radial basis function (RBF) neural network approximation is proposed. First, a compensated control is introduced into feedback loop in the structure of original disturbance observer, an improved disturbance observer is established based on velocity signals, and the ability of disturbance compensation and robustness are analyzed. Second, aiming at the compensation problem of nonlinear unknown disturbance, a method based on the RBF neural network (RBFNN) approximation properties is utilized. Finally, a composite compensation control structure is designed based on Lyapunov stability theory. The experimental results show that after applying the proposed method, the disturbance of airborne opto-electronic platform is compensated effectively. The proposed method has high precision and stable tracking control performance, and it can fully meet the requirement of airborne opto-electronic platform stability control.