运输机低空重装空投增益自适应滑模控制

Low altitude heavyweight airdrop flight control design using sliding mode control with gains adaptation

中文关键词  飞行控制  非线性系统  反馈线性化  自适应控制  滑模控制

英文关键词  flight control  nonlinear system  feedback linearization  adaptive control  sliding mode control

中文摘要

      本文针对带有不确定性且不确定性边界未知的低空重装备空投过程控制问题, 提出了基于增益自适应全 局滑模的飞行控制方法. 该方法采用反馈线性化技术对重装空投过程模型进行线性化, 解决了空投模型的强非线 性问题, 在此基础上, 设计了切换增益自适应全局滑模控制器, 保证了系统在响应全程的鲁棒性, 克服了滑模到达阶 段系统初始误差对切换增益自适应过程的影响. 提出了一种改进的增益自适应方法, 解决了滑动阶段的切换增益过 度自适应问题. 基于Lyapunov理论证明了控制器的稳定性和鲁棒性. 仿真验证了控制方法的控制性能和优越性.

英文摘要

      This paper proposes a global sliding mode flight control method with switching gains adaptation for low altitude heavyweight airdrop operations, in the presence of uncertainties whose bounds are not known. This method uses the feedback linearization technique to decouple the nonlinear heavyweight airdrop model, thus solving the strong nonlinear problem of the system. On this basis, a global sliding mode controller with switching gains adaptation is presented. It guarantees the global robustness of the system and overcomes the influence of the initial errors in the reaching phase of the sliding mode to the switching gains adaptation process. A modified gains adaptation method is proposed, which solves the overestimation problem of the switching gains in the sliding phase of the sliding mode. The stability and robustness properties are proved by using the Lyapunov theory. The control performance as well as the advantage of the proposed method is evaluated in a number of simulation scenarios.