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针对多操纵面飞机具有冗余操纵面的特点,考虑包含操纵面偏转角的位置约束和速率约束以及未知有界参数时的非线性控制分配问题,设计一种由上层虚拟控制律和自适应控制分配更新律组成的非线性角速度跟踪控制器.当系统满足充分激励条件时,基于集合稳定性理论,分别证明了上层虚拟控制子系统、控制分配子系统和整个闭环系统的全局一致渐近稳定性.对某多操纵面飞机的仿真结果验证了所提出方法的有效性,并且该方法能使参数估计收敛至真实值.
Aiming at the characteristics of redundant control surfaces of multi-control plane aircraft, considering the problem of the position control and the rate constraint of the control surface deflection angle and the nonlinear control assignment problem when the unknown control parameters are unknown, a virtual control law consisting of upper virtual control law and adaptive control A new nonlinear angular velocity tracking controller composed of renewal laws is assigned and the globally consistent asymptotic stability of the upper virtual control subsystem, the control distribution subsystem and the entire closed-loop system is respectively proved when the system satisfies the sufficient excitation conditions. The simulation results of a multi - control plane aircraft verify the effectiveness of the proposed method, and the method can make the parameter estimation converge to the true value.