含执行器非线性的多操纵面飞机自适应跟踪控制

Adaptive tracking control of multi-effector aircraft with actuator nonlinearity

针对含执行器非线性多操纵面飞机跟踪控制困难的问题,基于控制分配提出了一种鲁棒自适应神经网络控制方法。推导了含执行器非线性的多操纵面飞机控制分配方程。设计了自适应神经网络对系统中的非线性不确定项进行补偿,并引入鲁棒项消除了外界干扰和系统误差。利用Lyapunov稳定性定理证明了闭环系统的所有信号都是有界收敛的,且跟踪误差渐近趋于0。仿真结果验证了方法的有效性。

A robust adaptive neural network control method based on control allocation is proposed to solve the difficult problem of the tracking control of multi-effeetor aircraft with actuator nonlinearity. A control allocation equation is developed for multi-effector aircraft with actuator nonlinearity. An adaptive neural network is designed to compensate the nonlinear system uncertainty, and a robust term is introduced to attenuate the effects of external disturbance and system errors. From Lyapunov stability theorem, it is proved that all the sig- nals in the closed-loop system are bounded, and the tracking error can asymptotically converge to zero. Simulation results are presented to demonstrate the effectiveness of this method.