摘要
针对多操纵面飞机具有冗余操纵面的特点,考虑操纵面的位置约束,对多操纵面飞机设计一个由上层控制律和动态控制分配律组成的非线性控制器,应用李雅普诺夫稳定性理论和LaSalle不变集定理分别证明了上层控制子系统、动态控制分配子系统和整个闭环系统的渐近稳定性。对某多操纵面飞机的仿真结果验证了方法的有效性。
For aircraft with redundant multiple control effectors,a nonlinear controller,which was composed of a virtual control law and a dynamic control allocation with position constraints of each effectors,was designed.Based on Lyapunov stability theory and LaSalle invariant set theorem,asymptotic stabilities of upper control subsystem,dynamic control allocation subsystem and overall closed-loop system were proved respectively.Simulation results showed the effectiveness of the proposed method.
出处
《海军航空工程学院学报》
2012年第2期143-146,165,共5页
Journal of Naval Aeronautical and Astronautical University
关键词
多操纵面
输入受限
不变集
非线性控制分配
飞行控制
multiple control effectors
input constraints
invariant set
nonlinear control allocation
flight control
