| 引用本文: | 李茂青.基于受控拉格朗日函数的垂直起降飞机控制器设计[J].控制理论与应用,2010,27(6):688~694.[点击复制] |
| LI Mao-Qing.Control design for planar vertical takeoff-and-landing aircraft based on controlled Lagrangians[J].Control Theory and Technology,2010,27(6):688~694.[点击复制] |
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| 基于受控拉格朗日函数的垂直起降飞机控制器设计 |
| Control design for planar vertical takeoff-and-landing aircraft based on controlled Lagrangians |
| 摘要点击 2259 全文点击 1349 投稿时间：2008-12-31 修订日期：2009-08-19 |
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| DOI编号 10.7641/j.issn.1000-8152.2010.6.CCTA081468 |
| 2010,27(6):688-694 |
| 中文关键词 欠驱动力学系统 受控拉格朗日函数 匹配条件 陀螺力 垂直起降飞机 |
| 英文关键词 underactuated mechanical systems controlled Lagrangians matching condition gyroscopic forces PVTOL aircraft |
| 基金项目 国家自然科学基金重点资助项目(60334030); 教育部博士点基金资助项目(20050006024). |
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| 中文摘要 |
| 本文将单欠驱动度力学系统基于受控拉格朗日函数(CL)的控制器设计技术应用到具有输入耦合的垂直起降(PVTOL)飞机的控制问题中. 在显式陀螺力的匹配条件下, 得到的光滑反馈控制律保证了系统几乎全局渐近稳定. 与现有同类方法所得到的结果相比, 该匹配控制器形式更简单而收敛性能得到保持. |
| 英文摘要 |
| The controller design technique based on controlled Lagrangians(CL) for the mechanical systems with underactuation degree one is applied to control a planar vertical takeoff-and-landing (PVTOL) aircraft system with input coupling. Under the matching condition between the explicit gyroscopic forces, we develop a smooth feedback control law which ensures almost globally asymptotic stabilization for the system. Compared with the results obtained with existing similar methods, this matching controller is simpler in construction while retaining the same convergence performance. |