【摘要】 研究了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,提出了一种基于非线性干扰观测器对干扰进行实时估计的控制方案。为便于控制器设计,采用坐标变换和输入变换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误差子系统,将原系统的输出跟踪问题转换为两个子系统的镇定问题。为使所设计的控制器能够保证两个闭环子系统指数稳定,基于非线性干扰观测器,采用滑模变结构控制和最优控制,对两个子系统分别设计了控制器。仿真结果表明,所设计的控制器在输入干扰作用下能保证跟踪控制的稳定性,对干扰具有良好的鲁棒性。更多还原

【Abstract】 The trajectory tracking control problem of a vertical take-off and landing(VTOL) aircraft with uncertain input disturbance was studied,and a tracking control strategy using a nonlinear disturbance observer to conduct the realtime estimation of the uncertain input disturbance was proposed.To make the controller design easier,the tracking system of a VTOL aircraft was converted into the minimum phase error subsystem and the non-minimum phase error subsystem by employing two global coordinate transformations to convert the system’s output tracking problem into the stabilizing problem of the two error subsystems.To ensure that the designed controller makes its two closed-loop subsystems exponentially stable,based on nonlinear disturbance observers,one low-dimensional controller was designed for the minimum phase error subsystem by using the optimal control and another was designed for the nonminimum phase error subsystem by using the sliding mode control.The results of the numerical simulation and stability analysis demonstrated the better effectiveness and robustness of the proposed control method in trajectory tracking control under the input disturbance.更多还原