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中文摘要：
针对无人直升机模型阶数较高、负载变化大等问题，提出了一种基于自适应动态面的控制方法．该方法用一阶线性滤波器来估计虚拟控制信号的导数，显著简化了控制器的设计过程．此外，通过对无人机重量的自适应在线估计，保证了闭环系统在有负载变化下的稳定性，并基于李雅普诺夫稳定性理论，证明了轨迹跟踪误差半全局一致最终有界．最后，通过仿真实验进一步证实了该方法的有效性和可行性．
英文摘要：
As the existing unmanned helicopter models are of high order and great load change, a control method based on the adaptive dynamic surface approach is proposed. In this method, first, one-order linear filters are used to estimate the time derivatives of virtual control signals, thus significantly simplifying the design of the controller. Then, an on-line adaptive law is used to estimate the helicopter mass, thus guaranteeing the stability of the closedloop system with variable load. Finally, the semi-global uniform bound of tracking errors is proved based on the Lyapunov stability theory. Simulated results indicate that the proposed method is effective and feasible.
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Modified static anti-windup for saturated systems with sector-bounded and slope-restricted nonlinear
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