无尾翼的构型设计与较小的气动舵力臂使得无尾飞行器的机动性受到质疑，这就需要控制分配算法能够合理调动舵面以充分发挥飞行器机动能力。非线性力矩可达集能够准确描述飞行器的机动能力空间，而增量非线性力矩可达集能够准确计算飞行器在被控过程中的剩余机动能力。增量非线性力矩可达集是考虑舵偏角度和角速度均受限条件下对非线性力矩可达集的局部表达。基于增量非线性力矩可达集创新设计几何控制分配算法，通过改进的面搜索法与几何投影法实现非线性气动条件下的高效分配。算法首先通过改进的面搜索法计算期望力矩同力矩可达集表面的交点。其次确定交点所在可达集表面，并通过几何法计算期望力矩在该表面上的投影点。随后结合期望力矩与力矩可达集的空间关系，依据交点或投影点计算非线性气动下对应的舵偏向量。该分配解旨在减小分配误差的同时兼顾期望力矩需求。最后，分别在开环蛇形机动和闭环Herbst机动对比仿真控制分配算法，验证算法可行性并分析特点。
The tailless configuration design and reduced aerodynamic control surface moment arms of tailless aircraft raise con-cerns about their maneuverability, necessitating control allocation algorithms that can effectively coordinate control sur-faces to fully exploit the vehicle's maneuver potential. The nonlinear attainable moment set accurately characterizes the maneuver capability space, while the incremental nonlinear attainable moment set enables precise identification of resid-ual maneuver capabilities during controlled operations. The incremental nonlinear attainable moment set serves as a lo-calized expression of the nonlinear attainable moment set under constraints of limited effector deflection angles and angu-lar velocities. A novel geometric control allocation algorithm is proposed based on the incremental nonlinear attainable moment set, achieving efficient allocation under nonlinear aerodynamic conditions through an enhanced surface search method and geometric projection technique. First，the intersection point between the desired moment and the surface of attainable moment set is calculated by an improved surface search method. Second，the specific surface of attainable moment set where the intersection point resides is identified，and the projection point of the desired moment onto this surface is determined through geometric methods. Subsequently，combining the spatial relationship between the desired moment and attainable moment set，the corresponding effector deflection vector under nonlinear aerodynamics is com-puted based on the intersection or projection point. This allocation solution aims to minimize allocation errors while satis-fying the desired moment requirements. Finally，comparative simulations of the control allocation algorithm are conduct-ed under open-loop snake-shaped maneuvers and closed-loop Herbst maneuvers to verify its feasibility and analyze its characteristics.
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