Abstract Probe motion compound control for autonomous aerial refueling docking
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Probe motion compound control for autonomous aerial refueling docking

机译：自主运动空中加油对接的探针运动复合控制

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摘要

AbstractThis paper proposed a probe motion compound control scheme for the receiver docking control in the autonomous aerial refueling (AAR). The dynamic equation of the probe is modeled based on the receiver's 6 DOF nonlinear model which considers the influence of the multiple flow disturbance, and these dynamic equations are transformed into the affine nonlinear form for convenient control design. The AAR docking flight controller is divided into several cascade subsystems via back-stepping design technique. The terms which are independent of the virtual control variables in each affine nonlinear subsystem are taken as the “lumped disturbance”, and are accurately estimated for the disturbance compensation in the designed flight controller, by a group of extended states observers (ESO). Then a compound control scheme, which is constituted by back-stepping and ESO, is proposed for AAR docking based on these established receiver dynamics affine nonlinear form and the estimated lumped disturbances by ESOs. In the proposed probe compound scheme, the probe motion is controlled not only via the translational motion of the barycenter but also via the rotational motion of the receiver. The stability of the proposed probe compound control closed-loop system is formally proved by using Lyapunov function technique. Extensive simulations are carried out to verify the effectiveness and improvement with the proposed controller.
机译： 摘要 本文针对自动空中加油（AAR）中的接收器对接控制提出了一种探测运动复合控制方案。基于接收器的6自由度非线性模型对探头的动力学方程进行建模，该模型考虑了多重流扰动的影响，并将这些动力学方程转换为仿射非线性形式，以方便控制设计。通过反步设计技术，AAR对接飞行控制器被分为几个级联子系统。与每个仿射非线性子系统中的虚拟控制变量无关的术语被视为“集总扰动”，并由一组扩展状态观测器（ESO）精确估算出设计的飞行控制器中的扰动补偿。然后，基于这些已建立的接收器动力学仿射非线性形式和ESO估计的集总扰动，提出了一种由反推和ESO构成的复合控制方案，用于AAR对接。在提出的探针复合方案中，不仅通过重心的平移运动来控制探针运动，而且还通过接收器的旋转运动来控制探针运动。利用Lyapunov函数技术正式证明了所提出的探针复合控制闭环系统的稳定性。进行了广泛的仿真以验证所提出的控制器的有效性和改进。

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  • 来源
    《Aerospace science and technology》 |2018年第1期|1-13|共13页
  • 作者

    Zikang Su; Honglun Wang;

  • 作者单位

    School of Automation Science and Electrical Engineering, Beihang University,SHENYUAN Honors College of Beihang University,Science and Technology on Aircraft Control Laboratory, Beihang University;

    School of Automation Science and Electrical Engineering, Beihang University,Science and Technology on Aircraft Control Laboratory, Beihang University;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Autonomous aerial refueling; Docking control; Compound control; Back-stepping; Extended states observer;

    机译：自主空中加油;对接控制;复合控制;后退;扩展状态观察器;

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