针对预测控制在模型不确定和非渐进稳定系统中的应用问题,结合预测控制和简单自适应控制方法,分内外回路设计了一种改进的小型涵道风扇式无人机姿态预测控制律。仿真结果显示,被控无人机姿态可快速跟随指令输出,各控制通道的耦合作用被消除,在被控对象模型的参数发生变化时,DMC(dynamicmatrixcontrol)预测控制器依然有效。该控制方法具有较强的鲁棒性。

In order to solve the problem of model uncertainty and non-asymptotic stability of the system, an improved control law of the miniature duct fan UAV attitude prediction was designed by combining the prediction control method and simple adaptive control method. The simulation results indicate that the control law makes the UAV's attitude outputs follow the input signals rapidly, and the coupling interaction between control channels is eliminated. When the parameters of the object model changes, dynamic matrix control (DMC) prediction controller is still valid. The control law is robust.