针对多约束耦合环境下无人直升机 (Unmanned Autonomous Helicopter, UAH) 迅猛机动飞行的安全控制问题，在继承区间型约束处理优势的基础上，提出面向区间型-范数型双模态的多类多型约束协调安全飞行控制策略。通过设计具有类饱和光滑函数，不仅实现了指令在区间型约束边界的平滑过渡，更构建了范数空间下的二次型边界，使约束处理维度得到质的拓展，有效缓解了控制饱和对闭环稳定性的负面影响。进一步地，构建多约束协调机制，从而消除指令限幅对闭环稳定性的影响。在此基础上，通过分层式控制架构实现位置回路与姿态回路的解耦设计，并借助输入状态稳定、闭环不变集、Lyapunov函数等方法，归纳控制器参数设计与UAH闭环系统的稳定性、安全性与稳态跟踪性能。最后，基于中型UAH全量非线性模型，验证本文策略的有效性。
Addressing the safety control problem of aggressive maneuvering flight for Unmanned Autonomous Helicopters (UAH) under multi-constraint coupling environments, this study proposes a coordinated safety flight control strategy for multiple-type constraints under interval-type and norm-type dual-mode constraints, building upon the advantages of interval constraint processing. By designing a class of saturation-like smooth functions, not only does it achieve smooth transition of commands at interval constraint boundaries, but also constructs quadratic boundaries in norm space, fundamentally expanding constraint processing dimensions and effectively alleviating the negative impacts of control saturation on closed-loop stability. Furthermore, a multi-constraint coordination mechanism based on dynamic priority scheduling is established to eliminate the influence of command limiting on closed-loop stability. On this basis, a hierarchical control architecture is constructed to realize decoupled design of position loop and attitude loop. Through methods including input-to-state stability, closed-loop invariant sets, and Lyapunov functions, the controller parameter design is systematically summarized along with the stability, safety, and steady-state tracking performance of UAH closed-loop systems. Finally, the effectiveness of the proposed strategy is verified through a full-scale nonlinear model of a medium-sized UAH.
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