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Date of Publication:2022-10-09

Journal:控制理论与应用

Affiliation of Author(s):运载工程与力学学部

Issue:9

Page Number:1155-1161

ISSN No.:1000-8152

Abstract:A nonlinear generalized minimum variance (NGMV) optimal controller is designed for the tracking control problem of osprey fixed wing unmanned aerial vehicle (UAV) where the system model includes uncertainties and non-linear disturbances of wind. First, the dynamic model of osprey fixed wing UAV is decoupled into longitudinal and lateral modes. Then, the tracking controllers are designed for longitudinal and lateral modes respectively. Besides, in order to consider the nonlinear disturbance of wind, a NGMV controller is derived by increasing the dimension of the UAV system model. So the characteristics of the wind disturbance are fully considered by designing proper NGMV controller. One major advantage of the proposed controller is that it is not hard to extend this fig.3 method to handle general non-linear multivariable systems with disturbances and delay terms. Numerical simulation results are provided to demonstrate the performance of the proposed NGMV control law under the circumstances of a group of non-linear wind disturbances.

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