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摘要:
针对变体飞行器变形过程的控制问题，将切换系统理论与多变量自适应控制理论相结合，提出了一种基于切换系统的鲁棒自适应控制器设计方法。首先，建立了变体飞行器纵向短周期线性切换模型，描述了飞行器的整个变形过程；然后，设计了一种改进的鲁棒自适应控制律，抑制了各类干扰和不确定性对系统的影响，实现了切换系统对参考模型的良好跟踪；最后，提出了一种基于模型依赖驻留时间（MDDT）的切换控制律，保证了变体飞行器在变形切换过程中的稳定性，利用Lyapunov函数方法证明了本文方法最终一致有界。仿真验证表明，在存在外部干扰和各类不确定性的情况下，本文方法能保证飞行器在变形过程中精确跟踪参考模型，且具有较好的抗干扰能力。
Abstract:For the morphing process control of morphing aircraft, by combining the switching system theory and the multivariable adaptive control theory, a robust adaptive controller design method based on the switched system is proposed in this paper. Frist, the longitudinal short-period linear switching model for morphing aircraft is established, which can describe the whole morphing process. Second, an improved robust adaptive control law to reject the external disturbance and uncertainties is designed, which can guarantee the switching system's good tracking of the reference model. Then, based on the mode-dependent dwell time, a switching control law is put forward, which ensures the stability of the morphing aircraft in morphing process. According to the Lyapunov function methods, the ultimate uniform bound of the proposed approach is proved. The simulation results show that the proposed approach can guarantee the accurate tracking of the reference model during the morphing process with good disturbance rejection ability under the conditions of external disturbance and various uncertainties.
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表 1 自适应切换控制器主要参数
Table 1. Main parameters of adaptive switching controller
主要参数 1th子系统 2th子系统 3th子系统 4th子系统 
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