[1]秦宇洋,曹 东,沙俊江.基于 ESO-MPC 的水上无人机自主滑行起飞控制研究[J].机械与电子,2025,(10):64-70.
　QIN Yuyang,CAO Dong,SHA Junjiang.Autonomous Taxiing Take Off Control for Unmanned Seaplanes Based on ESO-MPC[J].Machinery & Electronics,2025,(10):64-70.
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基于 ESO-MPC 的水上无人机自主滑行起飞控制研究()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年10期
页码:
64-70
栏目:
智能制造
出版日期:
2025-10-25

文章信息/Info

Title:
Autonomous Taxiing Take Off Control for Unmanned Seaplanes Based on ESO-MPC
文章编号:
1001-2257 ( 2025 ) 10-0064-07
作者:
秦宇洋; 曹 东; 沙俊江
南京航空航天大学自动化学院,江苏 南京 211106
Author(s):
QIN Yuyang ;  CAO Dong ;  SHA Junjiang
( College of Automation Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing 211106 , China )
关键词:
水上无人机; 滑行起飞; 模型预测控制; 扩展状态观测器
Keywords:
unmanned seaplanes ;  taxiing takeoff ;  MPC ;  ESO
分类号:
V279 ;V249.1
文献标志码:
A
摘要:
分析水上无人机不同于陆基无人机的特点及起飞特性,针对水上无人机在滑行起飞过程中易受水面干扰的问题,提出一种具备自主决策能力的起飞控制策略,以提升其在复杂水面环境下的起飞稳定性与成功率。首先建立了包含水动力作用的水上无人机滑行起飞非线性数学模型,将纵向通道进行解耦并抽离出升降舵通道,引入规则波以模拟水面波浪运动。然后设计了基于扩展状态观测器的模型预测控制( ESO-MPC )方法,设计 MPC 控制器对俯仰角进行控制,使无人机实时跟踪波面并在波峰处起飞。同时引入基于 ESO 观测器的前馈补偿,对建模不精确部分和外部干扰进行估计和补偿,进一步提高系统的鲁棒性。最后仿真结果表明,该系统能够准确跟踪波面并实现平稳起飞。
Abstract:
This paper investigates the distinct characteristics and takeoff dynamics of unmanned seaplanes compared to land based UAV , and proposes an autonomous takeoff control method to address the challenges posed by water related factors affecting UAV takeoff from water surfaces.Firstly , a nonlinear mathematical model of UAV taxi off including hydrodynamic effect is established.The longitudinal channel is decoupled and extracted from the elevator channel , and the regular wave is introduced to simulate the water wave motion.Then , a model predictive control method based on extended state observer ( ESO MPC ) is designed , and the MPC controller is designed to control the pitch angle , so that the UAV could track the wave surface in real time and take off at the wave peak.At the same time , the feedforward compensation based on ESO observer is introduced to estimate and compensate the inaccurate part of modeling and external disturbance , and further improve the robustness of the system.Finally , the simulation results show that the system can accurately track the wave surface and achieve smooth takeoff.

参考文献/References:

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相似文献/References:

[1]秦宇洋,曹 东,王 程. 基于ESO-MPC的水上无人机短距起降构型切换控制[J].机械与电子,2026,44(01):81.
　QIN Yuyang,CAO Dong,WANG Cheng.Longitudinal Transition Control for Unmanned Seaplanes Takeoff and Landing Based on ESO-MPC[J].Machinery & Electronics,2026,44(10):81.

备注/Memo

备注/Memo:
收稿日期: 2025-04-24
作者简介:秦宇洋 ( 2000- ),男,江苏连云港人,硕士研究生,研究方向为无人飞行器飞行控制;曹 东 ( 1972- ),男,安徽池州人,硕士,副研究员,研究方向为无人飞行器飞行控制、嵌入式控制系统、检测技术与自动化装置。
更新日期/Last Update: 2025-11-13