基于切换多胞模型的变体飞行器增益调参控制

针对一类可变后掠翼的变体飞行器，研究了全包线控制器的设计与综合方法.建立了基于切换多胞系统的变体飞行器模型，所提出的框架利用Lyapunov函数方法分析系统的稳定性，能够从理论上保证变体飞行器在全包线下的飞行稳定.给出了利用小凸包算法从三维飞行包线中选取设计点的方法，并对各设计点处的线性化模型设计了最优控制律.为继承传统增益调参方法的优势，提出了一种特殊的控制器插值方法，保证变体飞行器三维包线下的控制综合过程简便实用.仿真结果表明所提出的控制方法在飞行器快速变形和参数大范围快速变化的情况下仍具有良好的控制性能. 

Gain schedule control of morphing vehicle based on switched polytopic system

Considering morphing vehicles with alterable sweep wings, control design and synthesis within full flight envelope was researched. The morphing vehicle model based on switched polytopic systems was established. In this framework, the stability analysis was accomplished by Lyapunov functions. The presented approach can guarantee the flight stability of the morphing vehicle within full flight envelope. A technique using the small convex hull algorithm was provided to select operating points from the 3-D flight envelope. Optimal control laws were also designed for linear models of operating points. To inherit the advantage of traditional methods, a specific interpolation method was proposed to make the control synthesis within the 3-D flight envelope brief and practical. Simulation results show that the proposed approach can guarantee flight performance during the fast reshaping of the morphing vehicles within full flight envelope.