变体辅助的无人机栖落机动模糊控制设计

Fuzzy Control Design for Perching Maneuvers of Morphing UAVs

无人机(Unmanned aerial vehicle,UAV)的栖落机动是一种大幅度的俯仰运动,易引起升降舵操纵力矩饱和。本文以变体方式增强无人机的俯仰操纵能力,并研究其对应的控制设计方法。首先对栖落机动建立了纵向动力学模型,并通过采用轨迹线性化和张量积变换方法转换得到T-S模糊模型。基于Lyapunov稳定理论和平方和方法,设计了满足控制输入约束的栖落机动多项式模糊控制器。对非变体与变体下的栖落机动控制过程进行了仿真,结果验证了控制律的有效性,并且表明变体辅助的无人机具有更强的操纵性能,能提高栖落机动中升降舵的抗饱和能力。

A perching maneuver is a kind of fierce pitching. An unmanned aerialvehicle(UAV)may probably be caught in saturation of the control moment of its elevators during such a process. A morphing mechanism is introduced to strengthen the capability of pitching control,and its corresponding controllers is discussed.Dynamic models of the longitudinal motion are generated at the beginning,and then T-S fuzzy models are obtained by trajectory linearization and tensor product transformation. According to Lyapunov stability theory and sum-of-square approach,polynomial fuzzy controllers meeting the constraints of control inputs are designed. After that,simulations of perching tasks are launched for both the rigid UAV and the morphing one. The results of simulations demonstrate that the morphing UAV has got its edge in maneuverability over the rigid one,and is more capable of suppressing the saturation of elevators.