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针对飞机战斗性机动飞行时模型非线性和参数不确定性的特点,提出了一种非线性反步自适应控制方法。在系统输入输出反馈线性化基础上,基于滑模的思想适当选取李亚普诺夫函数,通过反步的方法回馈递推得到控制律,并且利用粒子群算法优化固定参数改善动态性能,同时设计相应的自适应律来调节未知参数,最后通过伪逆控制分配方法得到最终控制信号。仿真结果表明:在较大的模型气动参数不确定条件下,所设计的控制律仍能理想地跟踪飞机战斗性机动指令飞行,同时具有快速的收敛性和良好的鲁棒性。
Aimed at the characteristics of non-linear and parametric uncertainties of aircraft during maneuverable flight, a nonlinear backstepping adaptive control method is proposed. Based on the linearization of the input and output of the system, the Lyapunov function is selected based on the sliding mode and the feedback law is obtained by the backstepping method. The particle swarm optimization is used to optimize the fixed parameters to improve the dynamic performance. At the same time, Adaptive law to adjust the unknown parameters, and finally by pseudo inverse control distribution method to get the final control signal. The simulation results show that the proposed control law can still track the aircraft’s maneuvering command flight ideally with the fast convergence and robustness under large uncertainties of the aerodynamic parameters of the model.