有输入饱和的欠驱动VTOL飞行器滑模控制

摘要

垂直起降飞行器(vertical take-off and landing,VTOL)是典型的非线性、欠驱动系统,实际工程中VTOL飞行器的执行机构通常有饱和特性,针对这种模型的特点,对原始数学模型进行了解耦坐标变换,通过可逆坐标变换化成一个最小相位系统和一个非最小相位系统,之后采用滑模设计方法设计控制器.为了解决执行机构的饱和问题,将超出饱和受限的部分回馈到控制器中,构造一个赫尔伍兹稳定的辅助线性系统,然后把它加入到滑模控制器之中,在控制器中做补偿.利用李雅普诺夫函数证明了系统的稳定性.仿真结果表明,此方法可有效地解决输入受限的VTOL飞行器的镇定和轨迹跟踪问题.%Vertical take-off and landing(VTOL) aircraft is a typically nonlinear underactuated system,and its executors usually have saturation characteristics in practical engineering. Firstly, VTOL dynamic e-quation was transformed into two sub-systems by reversible coordination transformations. Secondly, sliding mode controller was designed to realize trajectory tracking, and to compensate for the input saturation , a Hurwitz stable linear auxiliary system was developed and introduced into the sliding surfaces. Finally , the closed-loop system stability was proved by Lyapunov analysis. Simulation results indicate that the proposed method is effective to solve the VTOL aircraft trajectory tracking problem with input saturation.