一种非线性自适应切换控制混合方法及其在倾转旋翼机上的应用

doi:10.7527/S1000-6893.2014.0333

Abstract

Abstract:

To avoid control signals of sub-controllers bumping at switching time, a nonlinear adaptive switching control blending method is presented. Multilayer neural-net is used to compensate the inversion error of feedback linearization controllers and unmodeled uncertainties. The convex combination of each sub-controller output is utilized as the online control signal in which the weight value of each sub-controller is determined by a switching parameter, and then the continuous and smooth switching can be achieved. A common Lyapunov function of the closed-loop switching control system is found by choosing design parameters and weights update laws of neural-net appropriately, then the stability of this system is guaranteed. With its application to tiltrotor trajectory tracking control, three sub-controllers are designed based on input-output feedback linearization for helicopter mode, transition mode and airplane mode, which are combined with neural-net online compensation and switching control blending by nacelle angle for all controllers. Simulation results show that this method is robust for plant uncertainties and has a smooth switching characteristic in mode conversions.

Key words: switched nonlinear system, smooth switching, neural networks, tiltrotor, flight control

CLC Number:

V212.4

WANG Qi, WU Wenhai. A nonlinear adaptive switching control blending method and its application to tiltrotor[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(10): 3359-3369.

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A nonlinear adaptive switching control blending method and its application to tiltrotor

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