垂直/短距起降飞机的轨迹跟踪控制器设计

针对垂直/短距起降飞行器在悬停状态下滚转力矩与横侧向推力存在强耦合、系统具有非最小相位特性的问题，本文设计了轨迹跟踪控制器.首先利用坐标变换和输入输出线性化将系统分解成最小相位子系统和非最小相位子系统.对非最小相位子系统，采用稳态系统中心的方法求解理想内部动态，并跟踪系统理想内模设计了LQR控制器，使得内部动态有界；对最小相位子系统设计了高增益控制器使得外部动态渐进稳定.仿真结果表明本文设计的控制器对给定轨迹和飞行器机动轨迹都有较好的跟踪效果，验证了控制器的有效性.

Trajectory Tracking Controller Design of Vertical or Short Takeoff and Landing Aircraft

In this paper, a trajectory tracking controller is developed for the problem of non-minimum phase characteristic and strong coupling between the rolling torque and the lateral thrust for vertical take-off and landing vehicle in the hovering state. Firstly, the system is decomposed into the minimum phase subsystem and the non-minimum phase subsystem by the coordinate transformation and input-output linearization. Next, for the non-minimum phase subsystem, an LQR controller is proposed to track the ideal internal dynamic that is solved by the method of stable system center, so that the internal dynamic is bounded. Then, for the minimum phase subsystem, a high gain controller is designed to make the external dynamic asymptotic stability. Finally, the simulation results show that the controller designed in this paper has a good tracking effect on the given trajectory and the maneuvering trajectory of the aircraft, which verifies the effectiveness of the controller.