基于模糊控制与预测控制切换的翼伞系统航迹跟踪控制

以翼伞系统的六自由度模型为基础，针对翼伞系统的平面航迹跟踪问题，对已有的预测控制器进行改进，提出模糊控制和广义预测控制相互切换的控制模式．利用横向轨迹误差法，在翼伞偏航角误差较大的情况下，采用模糊控制，直至偏航角误差达到设定的较小范围内，切换为广义预测控制，对翼伞航迹进行精确的制导，在一定程度上减少了处理器的运算量．采用真实的翼伞参数建立仿真模型，结果验证了这一控制方法的有效性．

Flight path tracking of a parafoil system based on the switching between fuzzy control and predictive control

Based on the parafoil system model with six degrees of freedom, aim at the plane flight path tracking problem, the existing predictive controller is improved. A control mode is proposed, which switches between fuzzy control and generalized predictive control. According to the cross track error, when the yawing angle error of the parafoil is bigger, the fuzzy controller is applied until the error attains a small range that has been set. Then, the fuzzy control is switched to generalized predictive control, which can control and guide the parafoil in a higher precise level. In this way, the operation of the processor can be reduced to a certain extent. A simulation model is built up based on an actual parafoil, and the final result demonstrates the validity of the control mode.