小型飞行器的气动参数不确定,难以建立精确的数学模型,且具有强非线性,因此,提出了一种基于扩张状态观测器的增量动态逆控制方法,并基于此设计小型飞行器的姿态控制器。该方法引入角加速度信息,使得控制量的解算不依赖完整的精确模型,并通过扩张状态观测器估计角加速度信息。仿真表明基于扩张状态观测器的增量动态逆控制方法能够实现对小型飞行器的姿态控制,并且具有良好的鲁棒性。

The aerodynamic parameters of small aircrafts are uncertain, so it is difficult to establish accurate mathematical models, and it has strong nonlinearity. Therefore, an incremental dynamic inverse control method based on the extended state observer is proposed, and an attitude controller of the small aircraft is designed based on this. By introducing angular acceleration information to the controller, the method does not require an accurate model, and the aircraft angular acceleration information can be estimated by the extended state observer. The simulation results show that the incremental dynamic inverse control method based on the extended state observer can realize the attitude control of small aircraft and has good robustness.