Dynamic Inversion Control In Uav Robust Research

The automatic flight control system of the Unmanned Aerial Vehicle is one of the critical problems, and the research on this domain is still at the beginning level. This article studies the new theory of UAV in other countries, attempts to use dynamicinversion and H_∞ robust control method, and designs a robust control system of UAV.At first, we carry on a research on the model of UAV, give the 6-DOF nonlinear dynamic equation and the model of actuator based on some simplified conditions, through the simulation and analysis to prove the correctness of the model by 4-order Runge-Kutta method. Secondly, use over lapped dynamic inversion method to design inner and outer loop controller, respectively. And then, design the loop-shapingcontroller with great robustness on the basis of H_∞ theory since dynamic inversioncontroller can't satisfy control requirement when aircraft parameter is perturbed.The result of emulator shows that flight dynamic inversion method is an exact linearization manner, the outcome from theory would be more approving, if the model of plane is exacter. However, there are some inevitable parameter perturbation in the true system, so the result always not satisfying. But this problem can also be resolved byusing H_∞robust control method. It makes control system have greater performance indynamic, track, loose-coupled and robust. So the use of these two methods in UAV control system designing is efficient and feasible.