The invention discloses an anti-unwinding self-adaptive attitude control method and system for an aircraft. The method comprises the following steps: establishing relative attitude kinematics and dynamics equations of the aircraft, defining a parameter vector of an uncertain rotational inertia matrix, introducing a sign function, and rewriting the relative attitude kinematics and dynamics equations into a parameter affine form of the aircraft; defining an external form of parameter estimation, and determining an attitude tracking control law and a closed-loop system equation; according to an external form of aircraft parameter estimation and a closed-loop system equation, a partial differential equation to be solved is obtained, a filtering state is introduced to modify the partial differential equation, an approximate solution of the partial differential equation and an error term brought by the approximate solution are given, a dynamic scaling factor is introduced to eliminate the error term, and an internal form of aircraft parameter estimation is determined; and determining a complete form of an anti-unwinding immersion and invariant self-adaptive attitude controller of the aircraft. Through the method, high-performance attitude tracking control of the aircraft under the coexistence of parameter uncertainty, external disturbance and unwinding phenomena can be realized.

    本发明公开了一种飞行器抗退绕自适应姿态控制方法及系统,建立飞行器相对姿态运动学和动力学方程,定义不确定性转动惯量矩阵的参数向量,引入符号函数,将相对姿态运动学和动力学方程改写为飞行器的参数仿射形式;定义参数估计的外部形式,确定姿态跟踪控制律和闭环系统方程;根据飞行器参数估计的外部形式和闭环系统方程,获得待求解偏微分方程,引入滤波状态对偏微分方程进行改造,给出偏微分方程的近似解及其带来的误差项,引入动态缩放因子消除误差项,确定飞行器参数估计的内部形式;并确定飞行器抗退绕浸入与不变自适应姿态控制器的完整形式。通过该方法能够实现飞行器在参数不确定性、外部扰动、退绕现象并存下的高性能姿态跟踪控制。


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    Title :

    Aircraft anti-unwinding self-adaptive attitude control method and system


    Additional title:

    一种飞行器抗退绕自适应姿态控制方法及系统


    Contributors:
    PENG XUAN (author) / WANG HONGRU (author) / LU SHAN (author) / XIE SEN (author) / LOU ZHIJIANG (author)

    Publication date :

    2024-11-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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