Robust Control And Simulation Platform Design For Small-scale UAV

According to the problems in designing of the small-scale UAV’s robust adaptivecontrol and real-time simulation platform, the present research status in related fieldsof domestic and overseas are summarized in this paper. In addition, a robust adaptivecontrol and a simulation platform of UAV are designed, to guarantee the stability ofthe UAV and realize the simulation test, which improve simulation efficiencyeffectively and shorten the development cycles.In order to improve the control performance of UAV to cope with the complexflight environment, an inner and outer loop controller is designed on the basis ofcascade control structure. Considering the influence of control properties under theuncertainties of model parameters, this paper puts forward an inner-loop sliding modecontroller. To improve the control effect, a composite reaching law is proposed torealize the robust adaptive control of UAV system.According to the functional requirements, an overall procedure of UAVsimulation platform is designed, and the functions of every component are alsointroduced, as well as the preparatory work. For the sake of laying the foundation offurther work, a real-time simulation system is built by xPC simulation technology.The management software of UAV simulation is designed by MFC, finishing thewhole software system structure and graphical user interface. The furtherdevelopment of xPC is based on Visual C++2010development tools, the simulationdata can be acquired by xPC Target C API, and monitored through various methods.Finally, the simulation management database is realized by MySQL database system,which comprehensive manages both simulation data and test.Finally, a GIS system is developed on the basis of the Master Control Software.According to the functional requirements of GIS system in the platform, a low-costlocalization GIS system is developed, respectively, by MapWinGIS controls andGoogle Map API. Both achieve basic map management and track renderingcapabilities, which provide simulated environment data for UAV simulation. And it’sbeneficial to the verification of trajectory optimization algorithm and development ofground stations lately.