欠驱动VTOL飞行器非线性信息融合控制

Nonlinear Information Fusion Control for Underactuated VTOL Aircraft

针对垂直起降(vertical take-off and landing,VTOL)飞行器在悬停模型下的控制问题,提出了一种非线性信息融合控制方法。首先通过可逆非线性变换引入新的控制量,实现对VTOL飞行器横向运动和垂向运动的解耦,然后利用非线性信息融合估计定理融合飞行器的期望跟踪轨迹和控制能量的软约束信息,以及状态方程和输出方程的硬约束信息,获得关于飞行器控制量的最优估计。信息融合控制方法基于被控对象的离散模型设计,具有易于实现的特点。仿真结果表明,非线性信息融合算法具有良好的控制效果。

Aiming at the control problem of the vertical take-off and landing（ VTOL） aircraft under hovering model,a nonlinear information fusion control method is proposed. Firstly,the new control variables are introduced by a reversible nonlinear transformation to decouple the lateral motion and vertical motion of the VTOL aircraft,and then the nonlinear information fusion estimation theorem is used to fuse the soft constraints information of the desired tracking trajectory and the control energy of the aircraft and also the hard constraints information supplied by the state equation and the output equation,so that the optimal estimation of the aircraft＇s control variable can be obtained. The information fusion control method is easy to be designed,which is based on the discrete model of the controlled system. The simulation results show that the nonlinear information fusion algorithm takes good control effect.