针对常规布局飞机舵面故障下的侧滑飞行控制问题，提出一种基于 e-σ-modification混合自适应律的级联式侧滑飞行控制方法。在滚转角和偏航角速率响应时间远小于侧滑角响应的假设下，证明了侧滑角级联回路的稳定性并给出调节时间ts 与PI参数的关系。在扰动或未建模舵动态下，针对相对阶等于1和大于1的滚转角和偏航角速率通道分别设计模型参考自适应控制器（model reference adaptive controller，MRAC）。利用李雅普诺夫方法证明了在e-σ-modification律下鲁棒自适应控制内环的有界稳定，并给出在e-modification律基础上能够进一步减小输出误差和控制参数误差界限的自适应增益选择方法。仿真验证表明在允许的舵偏范围内，该侧滑飞行控制方法不仅具有较满意的侧滑角保持和跟踪性能，而且能够有效减小上述误差界限，有效性得以验证。%An e-σ-modification hybrid adaptive law based cascaded sideslip flight control scheme is proposed aiming at control surface failures of conventional configuration.The stability proof of the sideslip cascaded loop is given and then follows the expression between regulating time ts and PI control parameters under the assump-tion of faster response of the roll angle and the yaw rate than those of the sideslip.In the presence of perturba-tion and unmodeled input dynamics,the fundamental model reference adaptive control (MRAC)schemes for roll angle and yaw rate transfer-tunnels of relative degrees equal to one or greater are constructed respectively.The Lyapunov method guarantees that all signals of the robust adaptive control inner-loop updated by the e-σ-modifi-cation law are uniformly bounded.Further the method of choosing adaptive gains to minish error boundaries of the output and control parameter of the e-modification law is also analyzed.The simulation results validate the effectiveness and show that the method not only owns satisfactory sideslip angle holding and tracking performances,but also shrinks error boundaries mentioned above in an allowable deflection angle range of control surfaces.
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