多操纵面飞机全局集合稳定非线性自适应动态控制分配

针对多操纵面飞机具有冗余操纵面的特点,考虑包含操纵面偏转角的位置约束和速率约束以及未知有界参数时的非线性控制分配问题,设计一种由上层虚拟控制律和自适应控制分配更新律组成的非线性角速度跟踪控制器.当系统满足充分激励条件时,基于集合稳定性理论,分别证明了上层虚拟控制子系统、控制分配子系统和整个闭环系统的全局一致渐近稳定性.对某多操纵面飞机的仿真结果验证了所提出方法的有效性,并且该方法能使参数估计收敛至真实值.

Global Set-stable Nonlinear Adaptive Dynamic Control Allocation for Aircraft with Multiple Control Effectors

For the aircraft with redundant multiple control effectors, a nonlinear controller is designed, which is composed
of a virtual control law and a dynamic control allocation with unknown bounded parameters and effector constraints. Based on the set stability theory in the sense of Lyapunov stability, global asymptotic stabilities of upper control subsystem, dynamic control allocation subsystem and overall closed-loop system are proved respectively. Simulation results show the effectiveness of the proposed method, and the estimations of unknown parameters converge to the actual values.