[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):81-87.
　QIN Yuyang,CAO Dong,WANG Cheng.Longitudinal Transition Control for Unmanned Seaplanes Takeoff and Landing Based on ESO-MPC[J].Machinery & Electronics,2026,44(01):81-87.
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 基于ESO-MPC的水上无人机短距起降构型切换控制()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年01期
页码:
81-87
栏目:
飞行控制与导航
出版日期:
2026-01-27

文章信息/Info

Title:
Longitudinal Transition Control for Unmanned Seaplanes Takeoff and Landing Based on ESO-MPC
文章编号:
1001-2257(2026)01-0081-07
作者:
 秦宇洋; 曹 东; 王 程
 (南京航空航天大学自动化学院,江苏 南京 211106)
Author(s):
 QIN Yuyang; CAO Dong; WANG Cheng
 (College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)
关键词:
水上无人机; 模型预测控制; 扩张状态观测器; 襟翼收放
Keywords:
unmanned seaplanes; MPC; ESO; flap deployment and retraction
分类号:
V279;V249.1
文献标志码:
A
摘要:
针对水上无人机在起降时收放襟翼过程中易出现高度大幅变化的问题,提出一种具备自主决策能力的过渡控制策略,以提升其在收放襟翼过程中无人机爬升或下滑的平稳性。首先建立水上无人机空中飞行非线性数学模型,将纵向通道进行解耦后分离出升降舵通道并对该无人机进行特性分析。然后设计基于扩展状态观测器的模型预测控制(ESO-MPC)方法,用于对俯仰角进行控制,使无人机稳定爬升或下降。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,进一步提升系统的鲁棒性。仿真结果表明,该系统能够实现襟翼收放过程中高度的平稳变化。
Abstract:
Addressing the challenge of significant altitude fluctuations during the flap deployment and retraction of a seaplane UAV,this paper proposes a transition control strategy with autonomous decision making capabilities.The objective is to enhance the stability of climb and descent during critical takeoff and landing phases.Firstly,a nonlinear mathematical model of the unmanned seaplane’s airborne flight is established.The longitudinal channel is decoupled to extract the elevator control channel,followed by a characteristic analysis of the UAV.Subsequently,a model predictive control (MPC) method based on an extended state observer (ESO) is designed to control the pitch angle,enabling stable climbing or descending of the UAV.Meanwhile,an ESO based feedforward compensation is introduced to estimate and compensate for model inaccuracies and external disturbances,thereby further improve the overall robustness of the system.Finally,simulation results demonstrate that the proposed control system ensures smooth altitude transitions during flap deployment and retraction process.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2025-10-12
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: 2026-03-09