跟踪微分器与增量非线性动态逆相结合的飞翼无人机宽工况姿态控制研究

doi:10.7527/S1000-6893.2026.33119

Abstract

Abstract: To meet the requirements of a complete flight mission profile for the flying-wing UAVs, autonomous and reliable atti-tude control under wide flying envelope plays a crucial role. How to overcome the influence of flying-wing UAV's insuf-ficient longitudinal maneuverability, weak directional stability, as well as the combined effects of strong nonlinearity under wide operating conditions and external disturbances, to achieve precise and stable control, is a significant chal-lenge. This paper focuses on the study of autonomous and reliable attitude control of flying-wing UAVs under wide flying envelope. Firstly, to overcome the effects of strong nonlinearity and model deviations of the aircraft, an INDI-based attitude control method is designed. Combined with the dynamical characteristics of coordinated turns for vehi-cles, reasonable calculation of pseudo commands is achieved. Based on the proposed method, extensive simulation tests for longitudinal, lateral-direction channels and crosswind disturbances environments were carried out, to verify the effectiveness and limitations of the method. Secondly, to address the differential calculation problem in INDI, a TD-based pseudo-command optimization method was designed. Finally, simulation and actual flight experiments of the attitude controller based on combining INDI and TD were conducted, and the advantages of the designed method were validated through tests in noise environments.

Key words: flying-wing UAVs, attitude control, wide envelope, incremental nonlinear dynamic inversion, tracking differentiator

CLC Number:

V249.1

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Research on Attitude Control Under Wide-Envelope for Flying-Wing UAVs Combining Tracking Differentiator and Incremental Nonlinear Dynamic In-version

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