网络环境下复合抗干扰控制及在无人机中应用

网络控制和主动抗干扰技术均引起了控制领域的广泛关注，并取得许多重要研究进展，但通讯网络特性导致传统干扰抑制手段不再适用于网络控制系统，因而本项目开展网络环境下复合抗干扰控制设计与应用研究。针对非理想网络环境和外部强干扰给观测器与复合控制器设计带来的影响，提出混合事件触发机制与阈值调节算法以缓解网络资源受限，根据控制目标给出应对通讯时滞、数据丢包以及网络攻击的有效手段，利用干扰可测信息构建强适用性外源干扰模型并考虑间歇性输出的情况，设计新型观测器结构实现对外部干扰的有效估计，结合执行器扰动提出复合弹性控制策略，建立复合抗干扰网络控制器一体化设计方案；进而考虑阵风干扰随机跳变特性，综合上述研究探讨空地网络下无人直升机抗干扰协同跟踪控制，并将算法用于实际系统验证，为提高飞行控制系统的可靠性开辟新的途径。本项目不仅对推动网络控制和复合抗干扰控制研究具有重要的理论价值，而且拥有广阔的应用前景。

Recently, both networked control and active anti-disturbance control have received much attention from the control community and many important research developments have been achieved. Yet, owing to the complicated characteristics of communication networks, since these traditional anti-disturbance methods cannot be directly applied to network-based control systems, the composite anti-disturbance control with its application in network environment will be investigated in this project. As for the negative effects on designing the observers and composite controller induced by the non-ideal network and strong outside disturbance, a new kind of mixed event-triggered scheme and adjusting algorithm on triggering thresholds are proposed to relieve network resource limitation, and some effective techniques are presented to tackle communication delay, data dropouts, and cyber-attacks based on the desired control target. By utilizing part information of the disturbance, since some exterior disturbance models with strong applications are modeled and the case of intermittent output signal is considered, some novel design constructions on observers are proposed in order to effectively estimate the outside disturbance. Then on the basis of the disturbance estimation and actuator perturbation, the strategies of composite resilient controllers are put forward and the integration designs of composite anti-disturbance networked controller are established. Based on the discussions above and considering the stochastic jumping characteristics of gusts, the anti-disturbance cooperative tracking control for the unmanned helicopter is studied under networked circumstances and the derived controller algorithm is further utilized to carry out the practical experiments, which can provide a new way to enhance the reliability of flight control systems. It is believed that this project can not only propel the developments of networked control and composite anti-disturbance control theories, but also possesses a wide application prospect.