在這項研究中，我們提出了一個考量了風的擾動、建模錯誤、感測器噪音和致動器飽和等因素，適用於六自由度固定翼無人機模型，基於觀測器的強健H∞軌跡追蹤控制方案。透過提出的控制器，小型固定翼無人機可以在任務中直接追蹤規劃的軌跡，無需結合導航控制器以及自動駕駛儀。要設計基於觀測器的強健H∞參照軌跡追蹤控制器，必須解決一個非常複雜的非線性控制器/觀測器耦合的HJI問題。透過使用全域線性化方法，原來複雜的非線性HJI可以被轉化為一組雙線性矩陣不等式。最後，透過二步驟方法，雙線性不等式可以被轉化為一組線性矩陣不等式，並透過YALMIP工具箱得解。在結尾，會提供兩個數值模擬例子來證明提出方法之H∞軌跡預測與追蹤表現。第一個例子證明提出的基於觀測器的控制器可以在不同的飛行狀態下運作良好。而在第二個例子中，固定翼無人機會執行一個由杜賓路徑算法產生的搜救任務。以上兩個例子都會與傳統的導航-自動駕駛控制架構比較，作為驗證。

In this study, a robust H∞ observer-based trajectory tracking control scheme is proposed for the nonlinear 6 degrees of freedom (DoF) small fixed-wing unmanned air vehicle (UAV) model under wind disturbance, modeling error, sensor noise and actuator saturation. By the proposed method, the small fixed-wing UAV is able to follow the desired trajectory for some tasks, without the need of combining guidance controller and autopilot. The robust H∞ observer-based reference trajectory tracking control design problem needs to solve a very complicated nonlinear observer/control coupled Hamilton Jocobi inequality (HJI). Therefore, by employing the global linearization method, the original nonlinear HJI can be transformed into a set of bilinear matrix inequalities (BMIs). Finally, by the two-step method, the BMIs can be further transformed into a set of linear matrix inequalities (LMIs), which can be easily solved with YALMIP toolbox. In the end, two numerical simulation examples are presented to prove the robust H∞ trajectory estimation and tracking performance of the proposed H∞ robust observer-based reference trajectory tracking control strategy. The first one shows that the proposed observer-based trajectory controller is able to operate under different flight regimes, while in the second one the fixed-wing UAV can perform a searching mission, whose reference path is generated by Dubins path. Further, a comparison with a traditional guidance-autopilot control strategy is also given for the trajectory tracking performance validation of the proposed method.

摘要 I
Abstract II
致謝 III
Content IV
I. INTRODUCTION 1
II. PRELIMINARY AND PROBLEM FORMULATION 5
II.A PHYSICAL PLANT OF FIXED-WING UAV 5
II.B PROBLEM FORMULATION 13
III. NONLINEAR OBSERVER-BASED TRAJECTORY TRACKING CONTROL OF FIXED-WING UAV VIA GLOBAL LINEARIZATION METHOD 15
IV. NUMERICAL SIMULATION RESULTS 22
IV.A THE FIRST EXAMPLE 24
IV.B THE SECOND EXAMPLE 32
V. CONCLUSION 33
APPENDIX A PROOF OF THEOREM 1 36
APPENDIX B PROOF OF THEOREM 2 37
REFERENCES 40

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