微型飞行器过失速降落轨迹跟踪控制设计

采用基于张量积的T-S模糊建模与控制方法,对微型飞行器过失速降落纵向运动的轨迹跟踪控制问题进行了研究。首先,建立了过失速降落中飞行器纵向运动的线性变参数动力学模型;然后,通过张量积模型转化方法,将线性变参数模型转化为张量积胞体模型,基于该模型设计了并行分布补偿控制器,用Lyapunov稳定性理论证明了闭环系统的稳定性,并推导了区域极点配置条件以获得更好的暂态响应性能;最后,对飞行器的过失速降落过程进行了仿真,验证了所设计的跟踪控制器的有效性。

Trajectory tracking control design of micro aerial vehicle in post-stall landing

This paper presents a T-S fuzzy modeling and control method based on tensor product for the trajectory tracking control problem of the longitudinal motion of micro aircraft performing post-stall landing.First, a linear parameter varying modeling method was proposed to model the longitudinal dynamics of aircraft performing post-stall landing.Then, the linear varying parameter model was transformed into a tensor product polytopic model by using the tensor product transformation method.Based on the tensor product model, the parallel distributed compensation controller was designed, the stability of the closed-loop system was proved by using Lyapunov stability theory, and the condition for regional pole placement was derived to obtain a better transient response performance.Finally, the effectiveness of the proposed tracking controller was validated by simulating the post-stall landing process.