基于自适应浸入与不变的VTOL飞行器跟踪控制  

Tracking control for a VTOL aircraft based on adaptive immersion and invariance

作　　者：邹立颖[1] 苗凤娟[1] 陶柏睿[2] 

机构地区：[1]齐齐哈尔大学通信与电子工程学院,齐齐哈尔161006 [2]齐齐哈尔大学现代教育技术中心,齐齐哈尔161006

出　　处：《高技术通讯》2016年第2期180-185,共6页Chinese High Technology Letters

基　　金：黑龙江省自然科学基金(F201438);黑龙江省教育厅科学技术研究(12541899)资助项目

摘　　要：针对输入存在不确定干扰的垂直起降(VTOL)飞行器的跟踪控制问题,提出了一种基于自适应系统浸入与不变(I&I)的控制方案:对于不确定性输入干扰,采用自适应I&I方法对于扰进行实时估计补偿;为便于控制器设计,采用系统分解技术将原系统解耦成一个最小相位误差子系统和一个非最小相位子系统,将原系统的输出跟踪问题转换为两个误差子系统的镇定问题。基于自适应I&I估计律和滑模变结构控制方法分别设计了两个子系统的控制器,所设计的控制器能够保证两个闭环子系统指数稳定。仿真结果表明,上述控制方案在干扰估计精度和收敛速度方面明显优于传统自适应估计方法,能够实现飞行器对给定轨迹的准确跟踪,同时抑制输入干扰对系统性能的不良影响。To realize the tracking control of a vertical take-off and landing （VTOL） aircraft with uncertain input disturb- ances, a robust tracking control strategy based on adaptive immersion and invariance （I＆I） was presented. The strategy uses an adaptive I＆I method to achieve the real-time estimation and attenuation of uncertain input disturb- ances. For making the controller design easier, it transfers the output tracking problem of an original system into the stabilizing problem of two error subsystems by system into a minimum phase error subsystem and using the system decomposing technique to change the original a non-minimum phase subsystem. On the basis of the adaptive I＆I estimator, two low-dimensional controllers of the two decomposed subsystems were designed, which makes the overall closed-loop system exponentially stable. The numerical simulation results and stability analysis demonstrate the effectiveness and robustness of the proposed control method.

关 键 词：垂直起降(VTOL)飞行器 输出跟踪 浸入与不变(I&I) 干扰抑制 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]