【摘要】 应用泰勒级数展开方法设计了飞行器六自由度非线性模型预测控制器。通过对控制向量和输出向量的有限泰勒级数展开,确定闭环形式的控制输入。仿真结果表明:该方法能够适应控制项不完全或缺少控制项的病态情况,适当选择控制器的泰勒展开阶数可得到最优的控制结果,所设计的模型预测控制器具有很好的跟踪效果。更多还原

【Abstract】 A nonlinear model predictive control strategy is developed for a general 6 degree-of-freedom air vehicle.A closed form solution for the control input is made possible by expanding both the output and control vectors with a truncated Taylor series expansion.The control technique is demonstrated on an aircraft system through simulation.It is shown that the number of Taylor series expansion terms can be used to penalize the control sequence even though control is absent in the original performance function.It is also shown that ill conditioning in the optimal control gain equation limits the practical selection of number of Taylor series expansion terms.Simultaneously it is also shown that NMPC strategy can provide the excellent tracking.更多还原