关键词: 无人机, 电传操纵系统, 非线性奇异摄动系统, 运动学模型, 自适应鲁棒控制

Abstract: To study the flight control performance of Unmanned Aerial Vehicle (UAV),by taking unmanned aerial vehicle fly-by-wire control system as the research object,the nonlinear control technology of Unmanned Aerial Vehicle (UAV) was deeply studied theoretically and experimentally.The kinematics analysis of the non-linear control mechanism was carried out,the non-linear control system was partially linearized with inverse motion solving method,the forward and reverse kinematics derivation of mechanism position was operated,and the complete kinematics model of the system was established.Based on a feedback form of optimal controller for high-precision slow-varying systems,the combined control of nonlinear singular perturbation systems was proposed.The system model was constructed by using differential geometry control theory,and the singular nonlinear adaptive control of telephoto control system was realized through experiments.The research results showed that the control of the telex control system based on nonlinear adaptive control could accurately follow the position and speed,and meet the requirements of the system's anti-load capability.The whole system had better stability and robustness.

Key words: unmanned aerial vehicle, fly by wire control system, nonlinear singularly perturbed systems, kinematics model, adaptive robust control