欠驱动VTOL飞行器的位置反馈动态面控制

针对非最小相位欠驱动垂直起降飞行器系统,提出一种位置反馈动态面控制算法。首先设计高增益观测器，估计系统未知状态；然后采用动态面控制方法避免Backstepping设计存在的“微分爆炸”现象，同时简化控制律设计过程；最后采用Lyapunov直接法证明闭环系统所有信号一致有界,且跟踪误差通过调节控制器参数可以达到任意小。理论分析和仿真表明,所提方法能减轻计算负担,降低对系统状态的测量要求,实现飞行器位置准确跟踪,并对非线性建模的参数不确定性具有鲁棒性。

Position feedback dynamic surface control for underactuated VTOL aircraft

A position feedback dynamic surface control method for non-minimum phase underactuated vertical taking off and landing (VTOL) aircraft is proposed. Firstly, a high gain observer is designed to estimate unknown system states. Then, the dynamic surface control method is applied to conquer the problem of “explosion of complexity” existing in the Backstepping approach and the controller design procedure is simplified at the same time. Finally, Lyapunov stability analysis indicates that the dynamic surface controller can guarantee stability of the closed loop system and arbitrarily small tracking errors through adjusting the controller parameters. Both theoretic analysis and simulation show that the proposed controller can lighten the computational burden,reduce the requirement of state measurement and achieve accurate tracking control for the underactuated VTOL aircraft. Furthermore, the control system shows robustness to parameter uncertainty.