【摘要】 考虑地面目标参考信号短暂丢失与外部干扰等影响，研究无人直升机（Unmanned aerial helicopter,UAH）空地轨迹跟踪控制问题。首先，将短时丢失的参考轨迹进行分解，并将其建模成平稳信号与非平稳信号两部分。然后，利用差分整合移动平均自回归（Auto-regressive integrated moving average,ARIMA）模型预测平稳信号，并借助马尔可夫分析法对非平稳信号进行预测。其次，结合预测信息和跟踪误差信号，分别对UAH横纵向子系统和垂直子系统设计滑模控制器，以有效提升跟踪效率并减小外界干扰对跟踪性能的影响，并改进控制算法以减小由滑模导致的抖振现象。最后，利用仿真结果说明本文控制算法有效性与优越性。更多还原

【Abstract】 Combined with the existence of transiently lost reference signals and outside disturbance,this paper targets the problem on trajectory tracking control of unmanned aerial helicopter(UAH).Firstly,the lost reference signals in short time interval are divided into two parts including stationary reference signals and nonstationary ones.Secondly,as for the lost signals,a prediction model based on differential auto-regression integration moving average(ARIMA) model is utilized to predict the stationary signals and the Markov analytic method is used to predict the non-stationary one.Thirdly,by combining the predicted data and tracking error,two slide mode controllers are proposed for the transverse-longitudinal subsystem and the vertical subsystem in the UAH system,which can greatly improve the tracking performance and eliminate the negative effects of the outside disturbance.Moreover,the proposed control algorithm is further improved to decrease the chattering effect induced by the sliding mode.Finally,simulations are presented to illustrate the effectiveness and advantages of the derived control schemes.更多还原