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针对多操纵面飞机具有冗余操纵面的特点,考虑操纵面的位置约束,对多操纵面飞机设计一个由上层控制律和动态控制分配律组成的非线性控制器,应用李雅普诺夫稳定性理论和LaSalle不变集定理分别证明了上层控制子系统、动态控制分配子系统和整个闭环系统的渐近稳定性。对某多操纵面飞机的仿真结果验证了方法的有效性。
Aiming at the characteristics of multi-control plane with redundant control surfaces, a nonlinear controller composed of upper control law and dynamic control distribution law is designed for multi-control plane aircraft considering the position constraints of control surfaces. Lyapunov stability theory And LaSalle invariant set theorems prove the asymptotic stability of the upper control subsystem, the dynamic control distribution subsystem and the entire closed-loop system, respectively. The simulation results of a multi-control plane aircraft demonstrate the effectiveness of the method.