欠驱动VTOL飞行器鲁棒动态面控制  

Robust dynamic surface control for underactuated VTOL aircraft

作　　者：袁瑞侠[1] 刘金琨[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《飞行力学》2014年第1期29-33,共5页Flight Dynamics

基　　金：高等学校博士学科点专项科研基金资助(20121102110008)

摘　　要：针对VTOL飞行器模型的欠驱动、非线性和外界干扰的特点,提出一种新的鲁棒动态面控制方法。首先通过全局坐标变换使变换后的系统方程符合下三角结构形式,然后采用动态面方法完成控制律的设计。动态面方法通过引入一阶低通滤波器避免了反演设计存在的"微分爆炸"现象,并利用非线性阻尼项克服外界干扰。通过Lyapunov直接法分析出闭环系统具有半全局一致稳定性,且跟踪误差可以通过调节控制器参数达到任意小。仿真结果表明,在外界干扰存在的情况下,该方法能够在简化控制设计过程的同时保证VTOL飞行器快速跟踪预定轨迹。A new dynamic surface robust control method is proposed for underactuated VTOL aircraft a- gainst its characteristics of underactuation, nonlinearity and external disturbances. Coordinates transform is applied to make the system fit into lower triangular form, and then dynamic surface control method can be adopted to design the flight control law. Dynamic surface control method avoids the problem of ＂explo- sion of complexity＂ existing in traditional backstepping approach by introducing low-pass first order fil- ters. Besides, nonlinear damping items are used to overcome the external disturbances. The Lyapunov stability analysis shows that the control strategy guarantees the semi-global stability of the closed-loop sys- tem, and makes the tracking error arbitrarily small by adjusting the controller parameters. Simulation re- suits indicate that the proposed control scheme while simplifying the control design procedure can make VTOL aircraft track the desired trajectory rapidly under the condition of external disturbances.

关 键 词：VTOL飞行器 欠驱动 动态面控制 

分 类 号：V249.12[航空宇航科学与技术—飞行器设计]