摘要
A point-to-point iterative learning control method with the current-cycle feedback is proposed to enable aircraft to achieve an accurate four-dimensional(4D) trajectory tracking. To this end,the 4D trajectory tracking control problem is formulated into a point-to-point tracking control issue with an external disturbance. Then,the optimal point-to-point iterative learning control law is derived based on the successive projection method. Further,the current-cycle feedback error is added to the control law,so that the tracking error is reduced in both time and iteration domains. Finally,a numerical simulation is carried out using the kinematic model of an unmanned aerial vehicle and 4D trajectory data. Obtained results demonstrate that the proposed method can quickly reduce the trajectory tracking error even in the presence of gust interferences. Compared with the commonly used average velocity method and the velocity correction method,the proposed method makes full use of the past and current running data,and can continuously improve the accuracy of 4D trajectory tracking with the repetitive operation of aircraft between city pairs.
为了实现航空器的四维航迹精确跟踪控制,提出一种带有当前迭代反馈的点到点迭代学习控制方法。首先,将四维航迹跟踪控制问题抽象成具有外部干扰的点到点跟踪控制问题。其次,基于连续投影法得到最优点到点迭代学习控制律。进一步,在控制律中加入当前迭代反馈,使跟踪误差在迭代域和时间域均能减小。最后,利用无人机运动学模型和四维航迹数据开展了数值仿真。仿真结果显示,即使是在有阵风干扰的情况下,所提方法依然能够快速减小航迹跟踪误差。与常用的平均速度法和速度修正法相比,所提方法充分利用了航空器过去和当前的运行数据,并且能够随着城市对之间航空器的重复运行而不断提升四维航迹跟踪精度。
基金
supported by the Fundamental Research Funds for the Central Universities(No. 3122019131)。
