CAJ | 학술논문

针对非最小相位欠驱动垂直起降飞行器系统，提出一种位置反馈动态面控制算法。首先设计高增益观测器，估计系统未知状态；然后采用动态面控制方法避免 Backstepping 设计存在的“微分爆炸”现象，同时简化控制律设计过程；最后采用 Lyapunov 直接法证明闭环系统所有信号一致有界，且跟踪误差通过调节控制器参数可以达到任意小。理论分析和仿真表明，所提方法能减轻计算负担，降低对系统状态的测量要求，实现飞行器位置准确跟踪，并对非线性建模的参数不确定性具有鲁棒性。
침대비최소상위흠구동수직기강비행기계통，제출일충위치반궤동태면공제산법。수선설계고증익관측기，고계계통미지상태；연후채용동태면공제방법피면 Backstepping 설계존재적“미분폭작”현상，동시간화공제률설계과정；최후채용 Lyapunov 직접법증명폐배계통소유신호일치유계，차근종오차통과조절공제기삼수가이체도임의소。이론분석화방진표명，소제방법능감경계산부담，강저대계통상태적측량요구，실현비행기위치준학근종，병대비선성건모적삼수불학정성구유로봉성。
A position feedback dynamic surface control method for non-minimum-phase underactuated verti-cal taking-off and landing (VTOL)aircraft is proposed.Firstly,a high-gain observer is designed to estimate un-known system states.Then,the dynamic surface control method is applied to conquer the problem of “explosion of complexity”existing in the Backstepping approach and the controller design procedure is simplified at the same time.Finally,Lyapunov stability analysis indicates that the dynamic surface controller can guarantee sta-bility of the closed-loop system and arbitrarily small tracking errors through adjusting the controller parameters. Both theoretic analysis and simulation show that the proposed controller can lighten the computational burden, reduce the requirement of state measurement and achieve accurate tracking control for the underactuated VTOL aircraft.Furthermore,the control system shows robustness to parameter uncertainty.