欠驱动垂直起降飞行器解耦反演跟踪控制

Decoupling Inversion Tracking Control of Underactuated Vertical Takeoff and Landing Aircraft

摘要: 针对欠驱动垂直起降飞行器这种典型的强耦合非线性系统的跟踪问题，引入坐标变换和输入变换，把原模型变为一种方便控制器设计和稳定性分析的形式，变换后的模型可以分解为一个线性可控子系统和一个低阶的非线性系统，对于非线性系统，采用反演法设计输出反馈控制律，确保系统可以渐近收敛于预定轨迹。这种方法同已有的方法比较，简单直观，仿真结果表明，飞行器的实际轨迹和实际速度可以较好地收敛到预定的轨迹和速度。

Abstract: For the tracking problem of a typical strongly coupled nonlinear system, underactuated vertical takeoff and landing aircraft, coordinate transformation and input transformation are introduced to transform the original model into a convenient form for controller design and stability analysis. The transformed model can be decomposed into a linear controllable subsystem and a low order nonlinear system. For the nonlinear system, the inversion method is used to design the output feedback control law, ensuring that the system can asymptotically converge to the pre controller fixed trajectory. Compared with existing methods, this method is simple and intuitive. Simulation results show that the actual trajectory and speed of the aircraft can converge well to the predetermined trajectory and speed.