To solve the control allocation problem of dual aero/jet vane control missile, dynamics equations in longitudinal plane are derived, and the structure of compound control loop is designed based on attitude autopilot. Four brief compound control allocation strategies are researched and analyzed. Furthermore, a new strategy called chain combination variable proportional coefficient strategy based on rudder effect is presented. By simulation of initial climb trajectory, the characteristics of all the strategies are researched, and the results illustrate that the new strategy can meet the requirement well.
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机译:Control and Dynamic Manipulability of a Dual-arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality =虚拟现实中用于康复训练的双臂/手机器人外骨骼系统(EXO-UL8)的控制和动力可操作性