无人机安全着舰有限时间受限控制算法研究

Carrier-based unmanned aerial vehicles (UAVs) have obvious advantages of flexibility, strong adaptability, and excellent naval warfare ability, thus widely attracted the attention of numerous naval powers. There actually exists disadvantageous nonlinear characteristic such as saturation in the actuators of UAVs. Meanwhile, UAVs are not only sensitive to external disturbances but also are significantly influenced by uncertainties including modeling errors. To ensure carrier landing safety, the trajectory tracking errors, the angle of attack (AOA) and the adjustment time of UAV’ flight states before landing the ship deck need to be limited within the designed range. These complex factors make it a great challenge to design safe landing control system of carrier-based UAVs. This project focuses on the safe carrier-landing control law designs of nonlinear UAVs. The contradiction between constrained trajectory tracking errors and actuator saturation is conquered by exploring the Barrier-Lyapunov-Function based pseudo-control method. The effective constraint of UAV's angle of attack is achieved by studying the finite-time non-linear mapping control method with state constraints. A hybrid method composed disturbance observer of finite-time preset performance control is studied to suppress external disturbances and achieve high-precision trajectory tracking. Research results will provide valuable methods and the theoretic basis for the safe landing control system design of carrier-based UAVs.

舰载无人机因其具有机动灵活、适应能力强、出色的海战能力备受各海军强国的关注。无人机执行机构中存在舵面受限非线性特性；建模误差、舰尾流等外界干扰对无人机着舰精度影响显著；为保证飞行器着舰安全，轨迹跟踪误差、迎角等状态以及啮合舰船甲板前飞行状态的调整时间均需要限制在规定的范围内。这些复杂因素使得设计舰载无人机安全着舰控制系统面临着具大的挑战。本项目拟以无人舰载机非线性系统的安全着舰控制律设计为主线，通过探索基于伪控制的障碍李雅普诺夫受限控制方法调节无人机轨迹跟踪误差与执行器饱和之间的矛盾，通过研究状态受限的有限时间非线性映射控制方法实现对飞行器迎角的有效约束，通过研究基于扰动观测器与有限时间预设性能控制的复合方法来抑制外界干扰、实现轨迹的高精度跟踪。项目预期研究成果将为舰载机安全着舰控制系统设计提供可借鉴的思路和理论依据。

无人舰载机的起降作为世界性的难题，被称为“刀尖上的舞蹈”。为保证无人机着舰安全，如何进一步提高无人机系统的综合性能，成为飞行控制领域的研究重点。本项目以无人机安全着舰飞行控制器设计为主线展开一系列相关研究工作。重点考虑舰尾气流等外界扰动因素、无人机建模过程中存在的参数不确定性及着舰过程中时间约束对飞行控制系统的影响，围绕无人机安全着舰控制系统设计中面临的有限时间未知参数辨识、轨迹跟踪误差受限、迎角状态约束等问题展开理论研究。为克服参数不确定性对控制系统的影响、考虑系统状态安全约束、确保控制系统具有较好的动态性能，针对线性参数化模型提出新的预定时间收敛参数辨识算法、研究基于实际固定时间收敛自适应动态面复合学习算法，探索基于普适约束函数的固定时间复合神经网络学习控制算法，研究基于改进非线性扰动观测器与预设性能控制相结合的综合控制算法，并通过仿真验证算法的有效性。项目研究共发表学术论文数十余篇，发表的期刊包括《ISA Transactions》、《International Journal of Robust and Nonlinear Control》、《Journal of the Franklin Institute》、《International Journal of Aerospace Engineering》、《Aerospace Science and Technology》等，其中SCI期刊论文11篇。本项目为固定时间参数辨识/控制算法的研究提供新思路，研究结果具有重要的理论与应用价值。