非线性移动路径跟踪及着舰控制应用

针对传统路径跟踪方法不能有效解决移动路径跟踪（MPF）问题, 通过改进时变向量场方法提出一种新型移动路径跟踪控制方法, 并应用到舰载机自主着舰控制问题中。基于舰载机非线性模型, 以反步法为主体框架, 在时变向量场中定义轨迹误差, 同时为定义的虚拟控制量设计Lyapunov函数, 实现航向角和爬升角的快速准确跟踪, 保证舰载机航迹跟踪期望移动路径。稳定性分析证明跟踪误差收敛, 仿真结果表明控制方法具有良好的着舰性能。 

Nonlinear moving path following control and its application to carrier landing

This paper proposes a novel Moving Path Following (MPF) control method by improving the time-varying vector field method. Moreover, it is applied to the automatic carrier landing problem of carrier-based aircraft. Based on the nonlinear model of carrier-based aircraft, backstepping method is used as the main frame. Besides, the path following error is defined in the time-varying vector field. In addition, Lyapunov function is designed for the defined virtual control variable to achieve fast and accurate tracking for the heading angle and the climb angle, and the path of the aircraft is ensured to follow the desired moving path. The stability analysis proves that the following error converges to a small region, and the simulation results show that the control method has good performance in carrier landing.