基于滚动时域的舰载机甲板运动轨迹跟踪最优控制

针对单机滑行、无杆牵引系统以及有杆牵引系统的轨迹跟踪问题进行了研究。首先，将这3种系统的轨迹跟踪问题转化为最优控制问题，并建立了连续非线性舰载机系统的轨迹跟踪模型。然后，基于第3类生成函数，提出了适用范围更广的全状态保辛伪谱算法，并结合滚动时域理论提出了基于滚动时域（RHC）的在线跟踪最优控制方法，证明了所提算法是一种保辛算法。基于所提出的在线跟踪算法，对单机滑行、无杆牵引系统、有杆牵引系统在存在初始偏差和持续外界扰动情况下的轨迹跟踪问题分别进行了研究，并与BackwardSweep方法进行对比分析，结果表明本文所提出的跟踪算法可以有效地解决具有控制约束和状态约束的轨迹跟踪问题，并可以更高的跟踪精度和计算效率对标准轨迹进行跟踪，可完全满足实时跟踪的要求。最后，分别从初始偏差和持续外界扰动的角度研究了这3种不同方式的跟踪特性。

Optimal path tracking control of carrier-based aircraft on the deck based on RHC

In this paper, the path tracking problems of single aircraft, towed system without drawbar, and towed system with drawbar were studied. Firstly, the path tracking problems of the three systems were transformed into optimal control problems, and acontinuous nonlinear path tracking model was established. Then, based on the third generation function, afull state symplectic pseudospectral method with a wider range of applicability was proposed. Combined with the theory of Receding Horizon Control(RHC), an online tracking optimal control method was proposed, and the proposed method was proved to be a symplectic preserving algorithm. Based on the proposed online tracking algorithm, the path tracking problem of the single aircraft, towed system without drawbar, and towed system with drawbar in the presence of initial deviations and continuous disturbances of were studied respectively. Compared with the BackwardSweep method, the results show that the proposed tracking method can effectively solve the tracking problem with control constraints and state constraints, and it's of higher tracking accuracy and computation efficiency, fully meeting the requirements of real-time tracking. Finally, the tracking characteristics of these three different modes were studied from the perspective of initial deviation and continuous external disturbance.