| 引用本文: | 王应洋,张鹏,郭庆,丛继平,苏茂宇.非仿射模型驱动的无尾飞行器轨迹跟踪控制[J].控制理论与应用,2026,43(5):961~978.[点击复制] |
| WANG Ying-yang,ZHANG Peng,GUO Qing,CONG Ji-ping,SU Mao-yu.Trajectory tracking control for tailless aerial vehicles driven by non-affine model[J].Control Theory & Applications,2026,43(5):961~978.[点击复制] |
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| 非仿射模型驱动的无尾飞行器轨迹跟踪控制 |
| Trajectory tracking control for tailless aerial vehicles driven by non-affine model |
| 摘要点击 375 全文点击 22 投稿时间：2024-09-07 修订日期：2026-01-04 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2025.40490 |
| 2026,43(5):961-978 |
| 中文关键词 无尾飞行器 轨迹跟踪 非仿射模型 滑模控制 非线性动态逆 |
| 英文关键词 tailless aircraft trajectory tracking control non-affine model sliding model control dynamic inversion |
| 基金项目 国家自然科学基金项目(62103439), 无人飞行器技术全国重点实验室, 陕西省高校青年创新团队资助. |
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| 中文摘要 |
| 无尾飞行器(TAV)是未来穿透性制空作战的重要力量. 目前, TAV研究尚处在气动设计与姿态控制阶段, 轨
迹跟踪控制研究较少. 本文针对具有模型参数与结构不确定性的TAV轨迹跟踪控制问题进行研究. 由于TAV气动特
性复杂, 航迹角微分方程具有很强的非仿射特性, 传统的伪仿射转换方法可能导致控制器失效. 为此, 本文从模型
建立、模型转换与控制器设计3方面入手设计适应性强的轨迹跟踪控制器. 首先, 针对平动与转动子系统分别建立
面向控制器设计的非仿射与仿射模型. 然后, 通过分析泰勒展式与不等式约束两种方式处理非仿射函数的利弊, 提
出一种模型伪仿射转换新方法, 保留模型非仿射特性的同时避免控制律失效. 针对平动子系统, 基于非仿射模型设
计滑模控制器; 针对转动子系统, 基于反推法设计非线性动态逆控制器. 最后, 在执行器幅值与带宽受限下, 设计考
虑矢量推力的复合控制分配方法. 所设计的控制器不仅能实现稳定的轨迹跟踪控制, 还具有很强的鲁棒性, 仿真结
果证明了控制器的有效性. |
| 英文摘要 |
| Tailless aerial vehicle (TAV) is an important asset in future penetrating air combat. Currently, research on
TAVs is still primarily focused on aerodynamic design and attitude control, with trajectory tracking control receiving less
attention. This paper investigates the trajectory tracking control problem for TAVs with model parameter and structural uncertainties.
Due to the complexity of TAV aerodynamic characteristics, the trajectory angular differential equations exhibit
strong non-affine properties, and traditional pseudo-affine transformation methods may lead to controller failure. To address
this, an adaptive trajectory tracking controller is designed from three aspects: model construction, model transformation,
and controller design. Firstly, non-affine and affine models are established for the translational and rotational subsystems,
respectively, for controller design. Then, by analyzing the advantages and disadvantages of Taylor expansion and inequality
constraints in handling non-affine functions, a novel pseudo-affine transformation method is proposed. This method retains
the model’s non-affine characteristics while avoiding control law failure. A sliding mode controller is designed based on
the non-affine model for the translational subsystem. Additionally, a nonlinear dynamic inversion controller is designed
using the backstepping method for the rotational subsystem. Finally, a composite control allocation method considering
vectored thrust is developed under the constraints of actuator amplitude and bandwidth limitations. The designed controller
not only achieves stable trajectory tracking control, but also demonstrates strong robustness. Simulation results verify the
effectiveness of the proposed controller. |
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