ACTA AERONAUTICAET ASTRONAUTICA SINICA >
A nonlinear adaptive switching control blending method and its application to tiltrotor
Received date: 2014-09-28
Revised date: 2014-12-02
Online published: 2014-12-09
Supported by
Aeronautical Science Foundation of China (20100785001)
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.
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 . DOI: 10.7527/S1000-6893.2014.0333
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