林地复杂环境下的无人机精确姿态控制研究

With the development of eco-civilization, UAV technology and its application in forestry have gained much attention in the world. The attitude control technology plays a crucial role in achieving perfect flight characteristics, which is the basis of UAV autonomous flight control. Flying in forest environment, the UAV may face many challenges from obstacles, bad weather, communication difficulties, etc. Meanwhile, the UAV dynamics has the characteristics of coupled motion, under-actuated property, high nonlinearity and uncertainties, etc. These factors lead to the fact that the traditional attitude control scenario cannot achieve high accurate performance. This project focuses on the problem of precision attitude control design for UAV in complex forest environment. Combining the theory and practice, a series of attitude control schemes will be proposed to achieve the demands of multiple performance. Some problems about controller design and performance analyses for the UAV control system will be investigated based on some advanced control methods, such as behavioral control, intelligent control theory, compound control design, etc. Simulation platform and an outdoor quadcopter UAV experimental platform will be set up to illustrate the effectiveness and potential of the developed techniques. The research results are expected to offer solid theoretical foundation and technical basis for UAV with low altitude flight mission in complex forest environment.

伴随生态文明的逐步迈进，无人机技术及其在林业方面的应用受到了各国关注。姿态控制技术作为无人机自主飞行控制的基础，对其飞行特性起到至关重要的作用。林地飞行环境存在障碍物多、气候无常、通信困难等特点，无人机系统具有运动强耦合特性、欠驱动特性、高度非线性、动力学模型高度不确定性等特性，这些因素使得传统姿态控制技术难以满足精确姿态控制的性能要求。本项目紧紧围绕林地复杂环境下的无人机精确姿态控制问题开展研究，采用理论与实践相结合的方法，系统地提出满足多性能需求的无人机姿态控制解决方案，基于行为控制、智能控制理论和复合控制思想等先进控制方法，逐步深入地研究精确姿态控制器设计和性能分析等问题，并在仿真平台与室外四旋翼无人机实验平台上予以实现。该研究成果可望为无人机在林地复杂环境中执行多种低空飞行任务奠定坚实的理论基础和技术基础。

无人机技术在林业方面具有极其重要的应用，并已受到了世界各国广泛关注。姿态控制技术作为无人机自主飞行控制的基础，对其飞行特性起到至关重要的作用。林地飞行环境存在障碍物多、气候复杂、通信困难等复杂特点，且无人机系统自身具有运动强耦合特性、欠驱动特性、高度非线性、动力学模型高度不确定性等特性。在这些因素的影响下，使用传统姿态控制技术已不足以满足当今的高精准姿态性能要求。在本项目的资助下，本课题组紧紧围绕林地复杂环境下的无人机精确姿态控制问题开展研究，采用理论与实践相结合的方法，基于行为控制、智能控制理论和复合控制思想等先进控制方法，逐步深入地研究了精确姿态控制器设计和性能分析等问题，系统地提出了满足多性能需求的无人机姿态控制解决方案，并在无人机仿真实验平台上得以实现。该研究成果为无人机在林地复杂环境中执行多种低空飞行任务提供了依据与方法，具有重要的理论意义和应用价值。