【摘要】 研究了欠驱动VTOL(垂直上升和垂直着陆)空间飞行器在各种输入耦合时的非线性跟踪控制问题。VTOL空间飞行器是具有三个自由度,两个控制输入的欠驱动系统。首先,通过控制输入和坐标变换,系统的动力学方程被变换成二阶链式形式。其次,利用后推法(backstepping)的思想推导出保证系统渐近收敛于给定轨迹的时变反馈控制规律。该方法将系统分解为低阶子系统来处理,利用中间虚拟控制变量和部分Lyapunov函数简化了控制器的设计。仿真结果证明了所设计控制器的有效性。更多还原

【Abstract】 The trajectory tracking control for the under-actuated VTOL (vertical take off and landing) aircraft with any input coupling was addressed. VTOL aircraft is an under-actuated system with three degrees of freedom and two control inputs. Firstly, the motion equations of the system are transformed into second order chained form using coordinate and control input transformations. Secondly, the time-varying feedback control law with asymptotic stabilization is achieved to force the aircraft system to track a desired trajectory using integrator backstepping method. The method breaks down nonlinear system into low dimensional systems and simplifies the controller design using virtual control inputs and partial Lyapunov functions. Simulation results indicate the effectiveness of the proposed control law.更多还原