Docking control for probe-drogue refueling: An additive-state-decomposition-based output feedback iterative learning control method  

作　　者：Jinrui REN Quan QUAN Cunjia LIU Kai-Yuan CAI 

机构地区：[1]School of Automation Science and Electrical Engineering,Beihang University,Beijing 100083,China [2]Department of Aeronautical and Automotive Engineering,Loughborough University,Leicestershire LE113TU,United Kingdom

出　　处：《Chinese Journal of Aeronautics》2020年第3期1016-1025,共10页中国航空学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.61473012)。

摘　　要：Designing a controller for the docking maneuver in Probe-Drogue Refueling(PDR) is an important but challenging task, due to the complex system model and the high precision requirement.In order to overcome the disadvantage of only feedback control, a feedforward control scheme known as Iterative Learning Control(ILC) is adopted in this paper.First, Additive State Decomposition(ASD) is used to address the tight coupling of input saturation, nonlinearity and the property of Non Minimum Phase(NMP) by separating these features into two subsystems(a primary system and a secondary system).After system decomposition, an adjoint-type ILC is applied to the Linear Time-Invariant(LTI) primary system with NMP to achieve entire output trajectory tracking, whereas state feedback is used to stabilize the secondary system with input saturation.The two controllers designed for the two subsystems can be combined to achieve the original control goal of the PDR system.Furthermore, to compensate for the receiverindependent uncertainties, a correction action is proposed by using the terminal docking error,which can lead to a smaller docking error at the docking moment.Simulation tests have been carried out to demonstrate the performance of the proposed control method, which has some advantages over the traditional derivative-type ILC and adjoint-type ILC in the docking control of PDR.

关 键 词：Additive state decomposition Adjoint operator Docking control Iterative learning control Probe-drogue refueling Stable inversion 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V228.17